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autoware_tensorrt_bevformer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
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 2025-09-28
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

TensorRT implementation of BEVFormer for Autoware

Additional Links

No additional links.

Maintainers

  • Selventhiran Rengaraj
  • Ramaseshan Subramanian
  • Naveen Sathiyaseelan
  • Dhinesh Panneerselvam
  • Rahul Gandhi Sundar

Authors

No additional authors.
perception/autoware_tensorrt_bevformer/README.md

tensorrt_bevformer

Purpose

The core algorithm, named BEVFormer, unifies multi-view images into the BEV perspective for 3D object detection tasks with temporal fusion.

Inner-workings / Algorithms

Cite

  • Zhicheng Wang, et al., “BEVFormer: Incorporating Transformers for Multi-Camera 3D Detection” [ref]
  • This node is ported and adapted for Autoware from Multicoreware’s BEVFormer ROS2 C++ repository.

Inputs / Outputs

Inputs

Name Type Description
~/input/topic_img_front_left sensor_msgs::msg::Image input front_left camera image
~/input/topic_img_front sensor_msgs::msg::Image input front camera image
~/input/topic_img_front_right sensor_msgs::msg::Image input front_right camera image
~/input/topic_img_back_left sensor_msgs::msg::Image input back_left camera image
~/input/topic_img_back sensor_msgs::msg::Image input back camera image
~/input/topic_img_back_right sensor_msgs::msg::Image input back_right camera image
~/input/topic_img_front_left/camera_info sensor_msgs::msg::CameraInfo input front_left camera parameters
~/input/topic_img_front/camera_info sensor_msgs::msg::CameraInfo input front camera parameters
~/input/topic_img_front_right/camera_info sensor_msgs::msg::CameraInfo input front_right camera parameters
~/input/topic_img_back_left/camera_info sensor_msgs::msg::CameraInfo input back_left camera parameters
~/input/topic_img_back/camera_info sensor_msgs::msg::CameraInfo input back camera parameters
~/input/topic_img_back_right/camera_info sensor_msgs::msg::CameraInfo input back_right camera parameters
~/input/can_bus autoware_localization_msgs::msg::KinematicState CAN bus data for ego-motion

Outputs

Name Type Description
~/output_boxes autoware_perception_msgs::msg::DetectedObjects detected objects
~/output_bboxes visualization_msgs::msg::MarkerArray detected objects for nuScenes visualization

How to Use Tensorrt BEVFormer Node

Prerequisites

  • TensorRT 10.8.0.43
  • CUDA 12.4
  • cuDNN 8.9.2

Trained Model

Download the bevformer_small.onnx model to:

$HOME/autoware_data/tensorrt_bevformer

Note: The BEVFormer model was trained on the nuScenes dataset for 24 epochs with temporal fusion enabled.

Test TensorRT BEVFormer Node with nuScenes

  1. Integrate this package into your autoware_universe/perception directory.

  2. To play ROS 2 bag of nuScenes data:

   cd autoware/src
   git clone -b feature/bevformer-integration https://github.com/naveen-mcw/ros2_dataset_bridge.git
   cd ..

Note: The feature/bevformer-integration branch provides required data for the BEVFormer.

Download nuScenes dataset and canbus data here.

Open and edit the launch file to set dataset paths/configs:

   nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml

Update as needed:

   <arg name="NUSCENES_DIR" default="<nuScenes_dataset_path>"/>
   <arg name="NUSCENES_CAN_BUS_DIR" default="<can_bus_path>"/>
   <arg name="NUSCENES_VER" default="v1.0-trainval"/>
   <arg name="UPDATE_FREQUENCY" default="10.0"/>
  1. Build the autoware_tensorrt_bevformer and ros2_dataset_bridge packages

```bash # Build ros2_dataset_bridge

colcon build –packages-up-to ros2_dataset_bridge

# Build autoware_tensorrt_bevformer

colcon build –packages-up-to autoware_tensorrt_bevformer

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/bevformer.launch.xml
      • input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
      • input/img_front [default: /nuscenes/CAM_FRONT/image]
      • input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
      • input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
      • input/img_back [default: /nuscenes/CAM_BACK/image]
      • input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
      • input/can_bus [default: /nuscenes/can_bus]
      • output_boxes [default: ~/output_boxes]
      • output_bboxes [default: ~/output/debug/markers/bounding_boxes]
      • input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
      • input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
      • input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
      • input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
      • input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
      • input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
      • data_path [default: $(env HOME)/autoware_data/tensorrt_bevformer]
      • onnx_file [default: $(var data_path)/bevformer_small.onnx]
      • engine_file [default: $(var data_path)/bevformer_small.engine]
      • auto_convert [default: true]
      • precision [default: fp16]
      • debug_mode [default: false]
      • workspace_size [default: 4096]
      • model_name [default: bevformer_small]
      • param_file [default: $(find-pkg-share autoware_tensorrt_bevformer)/config/bevformer.param.yaml]
      • plugin_path [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_tensorrt_bevformer at Robotics Stack Exchange

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autoware_tensorrt_bevformer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
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 2025-09-28
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

TensorRT implementation of BEVFormer for Autoware

Additional Links

No additional links.

Maintainers

  • Selventhiran Rengaraj
  • Ramaseshan Subramanian
  • Naveen Sathiyaseelan
  • Dhinesh Panneerselvam
  • Rahul Gandhi Sundar

Authors

No additional authors.
perception/autoware_tensorrt_bevformer/README.md

tensorrt_bevformer

Purpose

The core algorithm, named BEVFormer, unifies multi-view images into the BEV perspective for 3D object detection tasks with temporal fusion.

Inner-workings / Algorithms

Cite

  • Zhicheng Wang, et al., “BEVFormer: Incorporating Transformers for Multi-Camera 3D Detection” [ref]
  • This node is ported and adapted for Autoware from Multicoreware’s BEVFormer ROS2 C++ repository.

Inputs / Outputs

Inputs

Name Type Description
~/input/topic_img_front_left sensor_msgs::msg::Image input front_left camera image
~/input/topic_img_front sensor_msgs::msg::Image input front camera image
~/input/topic_img_front_right sensor_msgs::msg::Image input front_right camera image
~/input/topic_img_back_left sensor_msgs::msg::Image input back_left camera image
~/input/topic_img_back sensor_msgs::msg::Image input back camera image
~/input/topic_img_back_right sensor_msgs::msg::Image input back_right camera image
~/input/topic_img_front_left/camera_info sensor_msgs::msg::CameraInfo input front_left camera parameters
~/input/topic_img_front/camera_info sensor_msgs::msg::CameraInfo input front camera parameters
~/input/topic_img_front_right/camera_info sensor_msgs::msg::CameraInfo input front_right camera parameters
~/input/topic_img_back_left/camera_info sensor_msgs::msg::CameraInfo input back_left camera parameters
~/input/topic_img_back/camera_info sensor_msgs::msg::CameraInfo input back camera parameters
~/input/topic_img_back_right/camera_info sensor_msgs::msg::CameraInfo input back_right camera parameters
~/input/can_bus autoware_localization_msgs::msg::KinematicState CAN bus data for ego-motion

Outputs

Name Type Description
~/output_boxes autoware_perception_msgs::msg::DetectedObjects detected objects
~/output_bboxes visualization_msgs::msg::MarkerArray detected objects for nuScenes visualization

How to Use Tensorrt BEVFormer Node

Prerequisites

  • TensorRT 10.8.0.43
  • CUDA 12.4
  • cuDNN 8.9.2

Trained Model

Download the bevformer_small.onnx model to:

$HOME/autoware_data/tensorrt_bevformer

Note: The BEVFormer model was trained on the nuScenes dataset for 24 epochs with temporal fusion enabled.

Test TensorRT BEVFormer Node with nuScenes

  1. Integrate this package into your autoware_universe/perception directory.

  2. To play ROS 2 bag of nuScenes data:

   cd autoware/src
   git clone -b feature/bevformer-integration https://github.com/naveen-mcw/ros2_dataset_bridge.git
   cd ..

Note: The feature/bevformer-integration branch provides required data for the BEVFormer.

Download nuScenes dataset and canbus data here.

Open and edit the launch file to set dataset paths/configs:

   nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml

Update as needed:

   <arg name="NUSCENES_DIR" default="<nuScenes_dataset_path>"/>
   <arg name="NUSCENES_CAN_BUS_DIR" default="<can_bus_path>"/>
   <arg name="NUSCENES_VER" default="v1.0-trainval"/>
   <arg name="UPDATE_FREQUENCY" default="10.0"/>
  1. Build the autoware_tensorrt_bevformer and ros2_dataset_bridge packages

```bash # Build ros2_dataset_bridge

colcon build –packages-up-to ros2_dataset_bridge

# Build autoware_tensorrt_bevformer

colcon build –packages-up-to autoware_tensorrt_bevformer

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/bevformer.launch.xml
      • input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
      • input/img_front [default: /nuscenes/CAM_FRONT/image]
      • input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
      • input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
      • input/img_back [default: /nuscenes/CAM_BACK/image]
      • input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
      • input/can_bus [default: /nuscenes/can_bus]
      • output_boxes [default: ~/output_boxes]
      • output_bboxes [default: ~/output/debug/markers/bounding_boxes]
      • input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
      • input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
      • input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
      • input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
      • input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
      • input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
      • data_path [default: $(env HOME)/autoware_data/tensorrt_bevformer]
      • onnx_file [default: $(var data_path)/bevformer_small.onnx]
      • engine_file [default: $(var data_path)/bevformer_small.engine]
      • auto_convert [default: true]
      • precision [default: fp16]
      • debug_mode [default: false]
      • workspace_size [default: 4096]
      • model_name [default: bevformer_small]
      • param_file [default: $(find-pkg-share autoware_tensorrt_bevformer)/config/bevformer.param.yaml]
      • plugin_path [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_tensorrt_bevformer at Robotics Stack Exchange

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autoware_tensorrt_bevformer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
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 2025-09-28
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

TensorRT implementation of BEVFormer for Autoware

Additional Links

No additional links.

Maintainers

  • Selventhiran Rengaraj
  • Ramaseshan Subramanian
  • Naveen Sathiyaseelan
  • Dhinesh Panneerselvam
  • Rahul Gandhi Sundar

Authors

No additional authors.
perception/autoware_tensorrt_bevformer/README.md

tensorrt_bevformer

Purpose

The core algorithm, named BEVFormer, unifies multi-view images into the BEV perspective for 3D object detection tasks with temporal fusion.

Inner-workings / Algorithms

Cite

  • Zhicheng Wang, et al., “BEVFormer: Incorporating Transformers for Multi-Camera 3D Detection” [ref]
  • This node is ported and adapted for Autoware from Multicoreware’s BEVFormer ROS2 C++ repository.

Inputs / Outputs

Inputs

Name Type Description
~/input/topic_img_front_left sensor_msgs::msg::Image input front_left camera image
~/input/topic_img_front sensor_msgs::msg::Image input front camera image
~/input/topic_img_front_right sensor_msgs::msg::Image input front_right camera image
~/input/topic_img_back_left sensor_msgs::msg::Image input back_left camera image
~/input/topic_img_back sensor_msgs::msg::Image input back camera image
~/input/topic_img_back_right sensor_msgs::msg::Image input back_right camera image
~/input/topic_img_front_left/camera_info sensor_msgs::msg::CameraInfo input front_left camera parameters
~/input/topic_img_front/camera_info sensor_msgs::msg::CameraInfo input front camera parameters
~/input/topic_img_front_right/camera_info sensor_msgs::msg::CameraInfo input front_right camera parameters
~/input/topic_img_back_left/camera_info sensor_msgs::msg::CameraInfo input back_left camera parameters
~/input/topic_img_back/camera_info sensor_msgs::msg::CameraInfo input back camera parameters
~/input/topic_img_back_right/camera_info sensor_msgs::msg::CameraInfo input back_right camera parameters
~/input/can_bus autoware_localization_msgs::msg::KinematicState CAN bus data for ego-motion

Outputs

Name Type Description
~/output_boxes autoware_perception_msgs::msg::DetectedObjects detected objects
~/output_bboxes visualization_msgs::msg::MarkerArray detected objects for nuScenes visualization

How to Use Tensorrt BEVFormer Node

Prerequisites

  • TensorRT 10.8.0.43
  • CUDA 12.4
  • cuDNN 8.9.2

Trained Model

Download the bevformer_small.onnx model to:

$HOME/autoware_data/tensorrt_bevformer

Note: The BEVFormer model was trained on the nuScenes dataset for 24 epochs with temporal fusion enabled.

Test TensorRT BEVFormer Node with nuScenes

  1. Integrate this package into your autoware_universe/perception directory.

  2. To play ROS 2 bag of nuScenes data:

   cd autoware/src
   git clone -b feature/bevformer-integration https://github.com/naveen-mcw/ros2_dataset_bridge.git
   cd ..

Note: The feature/bevformer-integration branch provides required data for the BEVFormer.

Download nuScenes dataset and canbus data here.

Open and edit the launch file to set dataset paths/configs:

   nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml

Update as needed:

   <arg name="NUSCENES_DIR" default="<nuScenes_dataset_path>"/>
   <arg name="NUSCENES_CAN_BUS_DIR" default="<can_bus_path>"/>
   <arg name="NUSCENES_VER" default="v1.0-trainval"/>
   <arg name="UPDATE_FREQUENCY" default="10.0"/>
  1. Build the autoware_tensorrt_bevformer and ros2_dataset_bridge packages

```bash # Build ros2_dataset_bridge

colcon build –packages-up-to ros2_dataset_bridge

# Build autoware_tensorrt_bevformer

colcon build –packages-up-to autoware_tensorrt_bevformer

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/bevformer.launch.xml
      • input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
      • input/img_front [default: /nuscenes/CAM_FRONT/image]
      • input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
      • input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
      • input/img_back [default: /nuscenes/CAM_BACK/image]
      • input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
      • input/can_bus [default: /nuscenes/can_bus]
      • output_boxes [default: ~/output_boxes]
      • output_bboxes [default: ~/output/debug/markers/bounding_boxes]
      • input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
      • input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
      • input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
      • input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
      • input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
      • input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
      • data_path [default: $(env HOME)/autoware_data/tensorrt_bevformer]
      • onnx_file [default: $(var data_path)/bevformer_small.onnx]
      • engine_file [default: $(var data_path)/bevformer_small.engine]
      • auto_convert [default: true]
      • precision [default: fp16]
      • debug_mode [default: false]
      • workspace_size [default: 4096]
      • model_name [default: bevformer_small]
      • param_file [default: $(find-pkg-share autoware_tensorrt_bevformer)/config/bevformer.param.yaml]
      • plugin_path [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_tensorrt_bevformer at Robotics Stack Exchange

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Package symbol

autoware_tensorrt_bevformer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
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 2025-09-28
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

TensorRT implementation of BEVFormer for Autoware

Additional Links

No additional links.

Maintainers

  • Selventhiran Rengaraj
  • Ramaseshan Subramanian
  • Naveen Sathiyaseelan
  • Dhinesh Panneerselvam
  • Rahul Gandhi Sundar

Authors

No additional authors.
perception/autoware_tensorrt_bevformer/README.md

tensorrt_bevformer

Purpose

The core algorithm, named BEVFormer, unifies multi-view images into the BEV perspective for 3D object detection tasks with temporal fusion.

Inner-workings / Algorithms

Cite

  • Zhicheng Wang, et al., “BEVFormer: Incorporating Transformers for Multi-Camera 3D Detection” [ref]
  • This node is ported and adapted for Autoware from Multicoreware’s BEVFormer ROS2 C++ repository.

Inputs / Outputs

Inputs

Name Type Description
~/input/topic_img_front_left sensor_msgs::msg::Image input front_left camera image
~/input/topic_img_front sensor_msgs::msg::Image input front camera image
~/input/topic_img_front_right sensor_msgs::msg::Image input front_right camera image
~/input/topic_img_back_left sensor_msgs::msg::Image input back_left camera image
~/input/topic_img_back sensor_msgs::msg::Image input back camera image
~/input/topic_img_back_right sensor_msgs::msg::Image input back_right camera image
~/input/topic_img_front_left/camera_info sensor_msgs::msg::CameraInfo input front_left camera parameters
~/input/topic_img_front/camera_info sensor_msgs::msg::CameraInfo input front camera parameters
~/input/topic_img_front_right/camera_info sensor_msgs::msg::CameraInfo input front_right camera parameters
~/input/topic_img_back_left/camera_info sensor_msgs::msg::CameraInfo input back_left camera parameters
~/input/topic_img_back/camera_info sensor_msgs::msg::CameraInfo input back camera parameters
~/input/topic_img_back_right/camera_info sensor_msgs::msg::CameraInfo input back_right camera parameters
~/input/can_bus autoware_localization_msgs::msg::KinematicState CAN bus data for ego-motion

Outputs

Name Type Description
~/output_boxes autoware_perception_msgs::msg::DetectedObjects detected objects
~/output_bboxes visualization_msgs::msg::MarkerArray detected objects for nuScenes visualization

How to Use Tensorrt BEVFormer Node

Prerequisites

  • TensorRT 10.8.0.43
  • CUDA 12.4
  • cuDNN 8.9.2

Trained Model

Download the bevformer_small.onnx model to:

$HOME/autoware_data/tensorrt_bevformer

Note: The BEVFormer model was trained on the nuScenes dataset for 24 epochs with temporal fusion enabled.

Test TensorRT BEVFormer Node with nuScenes

  1. Integrate this package into your autoware_universe/perception directory.

  2. To play ROS 2 bag of nuScenes data:

   cd autoware/src
   git clone -b feature/bevformer-integration https://github.com/naveen-mcw/ros2_dataset_bridge.git
   cd ..

Note: The feature/bevformer-integration branch provides required data for the BEVFormer.

Download nuScenes dataset and canbus data here.

Open and edit the launch file to set dataset paths/configs:

   nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml

Update as needed:

   <arg name="NUSCENES_DIR" default="<nuScenes_dataset_path>"/>
   <arg name="NUSCENES_CAN_BUS_DIR" default="<can_bus_path>"/>
   <arg name="NUSCENES_VER" default="v1.0-trainval"/>
   <arg name="UPDATE_FREQUENCY" default="10.0"/>
  1. Build the autoware_tensorrt_bevformer and ros2_dataset_bridge packages

```bash # Build ros2_dataset_bridge

colcon build –packages-up-to ros2_dataset_bridge

# Build autoware_tensorrt_bevformer

colcon build –packages-up-to autoware_tensorrt_bevformer

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/bevformer.launch.xml
      • input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
      • input/img_front [default: /nuscenes/CAM_FRONT/image]
      • input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
      • input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
      • input/img_back [default: /nuscenes/CAM_BACK/image]
      • input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
      • input/can_bus [default: /nuscenes/can_bus]
      • output_boxes [default: ~/output_boxes]
      • output_bboxes [default: ~/output/debug/markers/bounding_boxes]
      • input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
      • input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
      • input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
      • input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
      • input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
      • input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
      • data_path [default: $(env HOME)/autoware_data/tensorrt_bevformer]
      • onnx_file [default: $(var data_path)/bevformer_small.onnx]
      • engine_file [default: $(var data_path)/bevformer_small.engine]
      • auto_convert [default: true]
      • precision [default: fp16]
      • debug_mode [default: false]
      • workspace_size [default: 4096]
      • model_name [default: bevformer_small]
      • param_file [default: $(find-pkg-share autoware_tensorrt_bevformer)/config/bevformer.param.yaml]
      • plugin_path [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_tensorrt_bevformer at Robotics Stack Exchange

Package symbol

autoware_tensorrt_bevformer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
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 2025-09-28
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

TensorRT implementation of BEVFormer for Autoware

Additional Links

No additional links.

Maintainers

  • Selventhiran Rengaraj
  • Ramaseshan Subramanian
  • Naveen Sathiyaseelan
  • Dhinesh Panneerselvam
  • Rahul Gandhi Sundar

Authors

No additional authors.
perception/autoware_tensorrt_bevformer/README.md

tensorrt_bevformer

Purpose

The core algorithm, named BEVFormer, unifies multi-view images into the BEV perspective for 3D object detection tasks with temporal fusion.

Inner-workings / Algorithms

Cite

  • Zhicheng Wang, et al., “BEVFormer: Incorporating Transformers for Multi-Camera 3D Detection” [ref]
  • This node is ported and adapted for Autoware from Multicoreware’s BEVFormer ROS2 C++ repository.

Inputs / Outputs

Inputs

Name Type Description
~/input/topic_img_front_left sensor_msgs::msg::Image input front_left camera image
~/input/topic_img_front sensor_msgs::msg::Image input front camera image
~/input/topic_img_front_right sensor_msgs::msg::Image input front_right camera image
~/input/topic_img_back_left sensor_msgs::msg::Image input back_left camera image
~/input/topic_img_back sensor_msgs::msg::Image input back camera image
~/input/topic_img_back_right sensor_msgs::msg::Image input back_right camera image
~/input/topic_img_front_left/camera_info sensor_msgs::msg::CameraInfo input front_left camera parameters
~/input/topic_img_front/camera_info sensor_msgs::msg::CameraInfo input front camera parameters
~/input/topic_img_front_right/camera_info sensor_msgs::msg::CameraInfo input front_right camera parameters
~/input/topic_img_back_left/camera_info sensor_msgs::msg::CameraInfo input back_left camera parameters
~/input/topic_img_back/camera_info sensor_msgs::msg::CameraInfo input back camera parameters
~/input/topic_img_back_right/camera_info sensor_msgs::msg::CameraInfo input back_right camera parameters
~/input/can_bus autoware_localization_msgs::msg::KinematicState CAN bus data for ego-motion

Outputs

Name Type Description
~/output_boxes autoware_perception_msgs::msg::DetectedObjects detected objects
~/output_bboxes visualization_msgs::msg::MarkerArray detected objects for nuScenes visualization

How to Use Tensorrt BEVFormer Node

Prerequisites

  • TensorRT 10.8.0.43
  • CUDA 12.4
  • cuDNN 8.9.2

Trained Model

Download the bevformer_small.onnx model to:

$HOME/autoware_data/tensorrt_bevformer

Note: The BEVFormer model was trained on the nuScenes dataset for 24 epochs with temporal fusion enabled.

Test TensorRT BEVFormer Node with nuScenes

  1. Integrate this package into your autoware_universe/perception directory.

  2. To play ROS 2 bag of nuScenes data:

   cd autoware/src
   git clone -b feature/bevformer-integration https://github.com/naveen-mcw/ros2_dataset_bridge.git
   cd ..

Note: The feature/bevformer-integration branch provides required data for the BEVFormer.

Download nuScenes dataset and canbus data here.

Open and edit the launch file to set dataset paths/configs:

   nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml

Update as needed:

   <arg name="NUSCENES_DIR" default="<nuScenes_dataset_path>"/>
   <arg name="NUSCENES_CAN_BUS_DIR" default="<can_bus_path>"/>
   <arg name="NUSCENES_VER" default="v1.0-trainval"/>
   <arg name="UPDATE_FREQUENCY" default="10.0"/>
  1. Build the autoware_tensorrt_bevformer and ros2_dataset_bridge packages

```bash # Build ros2_dataset_bridge

colcon build –packages-up-to ros2_dataset_bridge

# Build autoware_tensorrt_bevformer

colcon build –packages-up-to autoware_tensorrt_bevformer

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/bevformer.launch.xml
      • input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
      • input/img_front [default: /nuscenes/CAM_FRONT/image]
      • input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
      • input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
      • input/img_back [default: /nuscenes/CAM_BACK/image]
      • input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
      • input/can_bus [default: /nuscenes/can_bus]
      • output_boxes [default: ~/output_boxes]
      • output_bboxes [default: ~/output/debug/markers/bounding_boxes]
      • input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
      • input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
      • input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
      • input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
      • input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
      • input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
      • data_path [default: $(env HOME)/autoware_data/tensorrt_bevformer]
      • onnx_file [default: $(var data_path)/bevformer_small.onnx]
      • engine_file [default: $(var data_path)/bevformer_small.engine]
      • auto_convert [default: true]
      • precision [default: fp16]
      • debug_mode [default: false]
      • workspace_size [default: 4096]
      • model_name [default: bevformer_small]
      • param_file [default: $(find-pkg-share autoware_tensorrt_bevformer)/config/bevformer.param.yaml]
      • plugin_path [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_tensorrt_bevformer at Robotics Stack Exchange

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Package symbol

autoware_tensorrt_bevformer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
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 2025-09-28
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

TensorRT implementation of BEVFormer for Autoware

Additional Links

No additional links.

Maintainers

  • Selventhiran Rengaraj
  • Ramaseshan Subramanian
  • Naveen Sathiyaseelan
  • Dhinesh Panneerselvam
  • Rahul Gandhi Sundar

Authors

No additional authors.
perception/autoware_tensorrt_bevformer/README.md

tensorrt_bevformer

Purpose

The core algorithm, named BEVFormer, unifies multi-view images into the BEV perspective for 3D object detection tasks with temporal fusion.

Inner-workings / Algorithms

Cite

  • Zhicheng Wang, et al., “BEVFormer: Incorporating Transformers for Multi-Camera 3D Detection” [ref]
  • This node is ported and adapted for Autoware from Multicoreware’s BEVFormer ROS2 C++ repository.

Inputs / Outputs

Inputs

Name Type Description
~/input/topic_img_front_left sensor_msgs::msg::Image input front_left camera image
~/input/topic_img_front sensor_msgs::msg::Image input front camera image
~/input/topic_img_front_right sensor_msgs::msg::Image input front_right camera image
~/input/topic_img_back_left sensor_msgs::msg::Image input back_left camera image
~/input/topic_img_back sensor_msgs::msg::Image input back camera image
~/input/topic_img_back_right sensor_msgs::msg::Image input back_right camera image
~/input/topic_img_front_left/camera_info sensor_msgs::msg::CameraInfo input front_left camera parameters
~/input/topic_img_front/camera_info sensor_msgs::msg::CameraInfo input front camera parameters
~/input/topic_img_front_right/camera_info sensor_msgs::msg::CameraInfo input front_right camera parameters
~/input/topic_img_back_left/camera_info sensor_msgs::msg::CameraInfo input back_left camera parameters
~/input/topic_img_back/camera_info sensor_msgs::msg::CameraInfo input back camera parameters
~/input/topic_img_back_right/camera_info sensor_msgs::msg::CameraInfo input back_right camera parameters
~/input/can_bus autoware_localization_msgs::msg::KinematicState CAN bus data for ego-motion

Outputs

Name Type Description
~/output_boxes autoware_perception_msgs::msg::DetectedObjects detected objects
~/output_bboxes visualization_msgs::msg::MarkerArray detected objects for nuScenes visualization

How to Use Tensorrt BEVFormer Node

Prerequisites

  • TensorRT 10.8.0.43
  • CUDA 12.4
  • cuDNN 8.9.2

Trained Model

Download the bevformer_small.onnx model to:

$HOME/autoware_data/tensorrt_bevformer

Note: The BEVFormer model was trained on the nuScenes dataset for 24 epochs with temporal fusion enabled.

Test TensorRT BEVFormer Node with nuScenes

  1. Integrate this package into your autoware_universe/perception directory.

  2. To play ROS 2 bag of nuScenes data:

   cd autoware/src
   git clone -b feature/bevformer-integration https://github.com/naveen-mcw/ros2_dataset_bridge.git
   cd ..

Note: The feature/bevformer-integration branch provides required data for the BEVFormer.

Download nuScenes dataset and canbus data here.

Open and edit the launch file to set dataset paths/configs:

   nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml

Update as needed:

   <arg name="NUSCENES_DIR" default="<nuScenes_dataset_path>"/>
   <arg name="NUSCENES_CAN_BUS_DIR" default="<can_bus_path>"/>
   <arg name="NUSCENES_VER" default="v1.0-trainval"/>
   <arg name="UPDATE_FREQUENCY" default="10.0"/>
  1. Build the autoware_tensorrt_bevformer and ros2_dataset_bridge packages

```bash # Build ros2_dataset_bridge

colcon build –packages-up-to ros2_dataset_bridge

# Build autoware_tensorrt_bevformer

colcon build –packages-up-to autoware_tensorrt_bevformer

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/bevformer.launch.xml
      • input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
      • input/img_front [default: /nuscenes/CAM_FRONT/image]
      • input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
      • input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
      • input/img_back [default: /nuscenes/CAM_BACK/image]
      • input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
      • input/can_bus [default: /nuscenes/can_bus]
      • output_boxes [default: ~/output_boxes]
      • output_bboxes [default: ~/output/debug/markers/bounding_boxes]
      • input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
      • input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
      • input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
      • input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
      • input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
      • input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
      • data_path [default: $(env HOME)/autoware_data/tensorrt_bevformer]
      • onnx_file [default: $(var data_path)/bevformer_small.onnx]
      • engine_file [default: $(var data_path)/bevformer_small.engine]
      • auto_convert [default: true]
      • precision [default: fp16]
      • debug_mode [default: false]
      • workspace_size [default: 4096]
      • model_name [default: bevformer_small]
      • param_file [default: $(find-pkg-share autoware_tensorrt_bevformer)/config/bevformer.param.yaml]
      • plugin_path [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_tensorrt_bevformer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
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 2025-09-28
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

TensorRT implementation of BEVFormer for Autoware

Additional Links

No additional links.

Maintainers

  • Selventhiran Rengaraj
  • Ramaseshan Subramanian
  • Naveen Sathiyaseelan
  • Dhinesh Panneerselvam
  • Rahul Gandhi Sundar

Authors

No additional authors.
perception/autoware_tensorrt_bevformer/README.md

tensorrt_bevformer

Purpose

The core algorithm, named BEVFormer, unifies multi-view images into the BEV perspective for 3D object detection tasks with temporal fusion.

Inner-workings / Algorithms

Cite

  • Zhicheng Wang, et al., “BEVFormer: Incorporating Transformers for Multi-Camera 3D Detection” [ref]
  • This node is ported and adapted for Autoware from Multicoreware’s BEVFormer ROS2 C++ repository.

Inputs / Outputs

Inputs

Name Type Description
~/input/topic_img_front_left sensor_msgs::msg::Image input front_left camera image
~/input/topic_img_front sensor_msgs::msg::Image input front camera image
~/input/topic_img_front_right sensor_msgs::msg::Image input front_right camera image
~/input/topic_img_back_left sensor_msgs::msg::Image input back_left camera image
~/input/topic_img_back sensor_msgs::msg::Image input back camera image
~/input/topic_img_back_right sensor_msgs::msg::Image input back_right camera image
~/input/topic_img_front_left/camera_info sensor_msgs::msg::CameraInfo input front_left camera parameters
~/input/topic_img_front/camera_info sensor_msgs::msg::CameraInfo input front camera parameters
~/input/topic_img_front_right/camera_info sensor_msgs::msg::CameraInfo input front_right camera parameters
~/input/topic_img_back_left/camera_info sensor_msgs::msg::CameraInfo input back_left camera parameters
~/input/topic_img_back/camera_info sensor_msgs::msg::CameraInfo input back camera parameters
~/input/topic_img_back_right/camera_info sensor_msgs::msg::CameraInfo input back_right camera parameters
~/input/can_bus autoware_localization_msgs::msg::KinematicState CAN bus data for ego-motion

Outputs

Name Type Description
~/output_boxes autoware_perception_msgs::msg::DetectedObjects detected objects
~/output_bboxes visualization_msgs::msg::MarkerArray detected objects for nuScenes visualization

How to Use Tensorrt BEVFormer Node

Prerequisites

  • TensorRT 10.8.0.43
  • CUDA 12.4
  • cuDNN 8.9.2

Trained Model

Download the bevformer_small.onnx model to:

$HOME/autoware_data/tensorrt_bevformer

Note: The BEVFormer model was trained on the nuScenes dataset for 24 epochs with temporal fusion enabled.

Test TensorRT BEVFormer Node with nuScenes

  1. Integrate this package into your autoware_universe/perception directory.

  2. To play ROS 2 bag of nuScenes data:

   cd autoware/src
   git clone -b feature/bevformer-integration https://github.com/naveen-mcw/ros2_dataset_bridge.git
   cd ..

Note: The feature/bevformer-integration branch provides required data for the BEVFormer.

Download nuScenes dataset and canbus data here.

Open and edit the launch file to set dataset paths/configs:

   nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml

Update as needed:

   <arg name="NUSCENES_DIR" default="<nuScenes_dataset_path>"/>
   <arg name="NUSCENES_CAN_BUS_DIR" default="<can_bus_path>"/>
   <arg name="NUSCENES_VER" default="v1.0-trainval"/>
   <arg name="UPDATE_FREQUENCY" default="10.0"/>
  1. Build the autoware_tensorrt_bevformer and ros2_dataset_bridge packages

```bash # Build ros2_dataset_bridge

colcon build –packages-up-to ros2_dataset_bridge

# Build autoware_tensorrt_bevformer

colcon build –packages-up-to autoware_tensorrt_bevformer

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/bevformer.launch.xml
      • input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
      • input/img_front [default: /nuscenes/CAM_FRONT/image]
      • input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
      • input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
      • input/img_back [default: /nuscenes/CAM_BACK/image]
      • input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
      • input/can_bus [default: /nuscenes/can_bus]
      • output_boxes [default: ~/output_boxes]
      • output_bboxes [default: ~/output/debug/markers/bounding_boxes]
      • input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
      • input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
      • input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
      • input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
      • input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
      • input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
      • data_path [default: $(env HOME)/autoware_data/tensorrt_bevformer]
      • onnx_file [default: $(var data_path)/bevformer_small.onnx]
      • engine_file [default: $(var data_path)/bevformer_small.engine]
      • auto_convert [default: true]
      • precision [default: fp16]
      • debug_mode [default: false]
      • workspace_size [default: 4096]
      • model_name [default: bevformer_small]
      • param_file [default: $(find-pkg-share autoware_tensorrt_bevformer)/config/bevformer.param.yaml]
      • plugin_path [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_tensorrt_bevformer at Robotics Stack Exchange

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autoware_tensorrt_bevformer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.1.0
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 2025-09-28
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

TensorRT implementation of BEVFormer for Autoware

Additional Links

No additional links.

Maintainers

  • Selventhiran Rengaraj
  • Ramaseshan Subramanian
  • Naveen Sathiyaseelan
  • Dhinesh Panneerselvam
  • Rahul Gandhi Sundar

Authors

No additional authors.
perception/autoware_tensorrt_bevformer/README.md

tensorrt_bevformer

Purpose

The core algorithm, named BEVFormer, unifies multi-view images into the BEV perspective for 3D object detection tasks with temporal fusion.

Inner-workings / Algorithms

Cite

  • Zhicheng Wang, et al., “BEVFormer: Incorporating Transformers for Multi-Camera 3D Detection” [ref]
  • This node is ported and adapted for Autoware from Multicoreware’s BEVFormer ROS2 C++ repository.

Inputs / Outputs

Inputs

Name Type Description
~/input/topic_img_front_left sensor_msgs::msg::Image input front_left camera image
~/input/topic_img_front sensor_msgs::msg::Image input front camera image
~/input/topic_img_front_right sensor_msgs::msg::Image input front_right camera image
~/input/topic_img_back_left sensor_msgs::msg::Image input back_left camera image
~/input/topic_img_back sensor_msgs::msg::Image input back camera image
~/input/topic_img_back_right sensor_msgs::msg::Image input back_right camera image
~/input/topic_img_front_left/camera_info sensor_msgs::msg::CameraInfo input front_left camera parameters
~/input/topic_img_front/camera_info sensor_msgs::msg::CameraInfo input front camera parameters
~/input/topic_img_front_right/camera_info sensor_msgs::msg::CameraInfo input front_right camera parameters
~/input/topic_img_back_left/camera_info sensor_msgs::msg::CameraInfo input back_left camera parameters
~/input/topic_img_back/camera_info sensor_msgs::msg::CameraInfo input back camera parameters
~/input/topic_img_back_right/camera_info sensor_msgs::msg::CameraInfo input back_right camera parameters
~/input/can_bus autoware_localization_msgs::msg::KinematicState CAN bus data for ego-motion

Outputs

Name Type Description
~/output_boxes autoware_perception_msgs::msg::DetectedObjects detected objects
~/output_bboxes visualization_msgs::msg::MarkerArray detected objects for nuScenes visualization

How to Use Tensorrt BEVFormer Node

Prerequisites

  • TensorRT 10.8.0.43
  • CUDA 12.4
  • cuDNN 8.9.2

Trained Model

Download the bevformer_small.onnx model to:

$HOME/autoware_data/tensorrt_bevformer

Note: The BEVFormer model was trained on the nuScenes dataset for 24 epochs with temporal fusion enabled.

Test TensorRT BEVFormer Node with nuScenes

  1. Integrate this package into your autoware_universe/perception directory.

  2. To play ROS 2 bag of nuScenes data:

   cd autoware/src
   git clone -b feature/bevformer-integration https://github.com/naveen-mcw/ros2_dataset_bridge.git
   cd ..

Note: The feature/bevformer-integration branch provides required data for the BEVFormer.

Download nuScenes dataset and canbus data here.

Open and edit the launch file to set dataset paths/configs:

   nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml

Update as needed:

   <arg name="NUSCENES_DIR" default="<nuScenes_dataset_path>"/>
   <arg name="NUSCENES_CAN_BUS_DIR" default="<can_bus_path>"/>
   <arg name="NUSCENES_VER" default="v1.0-trainval"/>
   <arg name="UPDATE_FREQUENCY" default="10.0"/>
  1. Build the autoware_tensorrt_bevformer and ros2_dataset_bridge packages

```bash # Build ros2_dataset_bridge

colcon build –packages-up-to ros2_dataset_bridge

# Build autoware_tensorrt_bevformer

colcon build –packages-up-to autoware_tensorrt_bevformer

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/bevformer.launch.xml
      • input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
      • input/img_front [default: /nuscenes/CAM_FRONT/image]
      • input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
      • input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
      • input/img_back [default: /nuscenes/CAM_BACK/image]
      • input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
      • input/can_bus [default: /nuscenes/can_bus]
      • output_boxes [default: ~/output_boxes]
      • output_bboxes [default: ~/output/debug/markers/bounding_boxes]
      • input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
      • input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
      • input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
      • input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
      • input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
      • input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
      • data_path [default: $(env HOME)/autoware_data/tensorrt_bevformer]
      • onnx_file [default: $(var data_path)/bevformer_small.onnx]
      • engine_file [default: $(var data_path)/bevformer_small.engine]
      • auto_convert [default: true]
      • precision [default: fp16]
      • debug_mode [default: false]
      • workspace_size [default: 4096]
      • model_name [default: bevformer_small]
      • param_file [default: $(find-pkg-share autoware_tensorrt_bevformer)/config/bevformer.param.yaml]
      • plugin_path [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_tensorrt_bevformer at Robotics Stack Exchange

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

autoware_tensorrt_bevformer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.1.0
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 2025-09-28
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

TensorRT implementation of BEVFormer for Autoware

Additional Links

No additional links.

Maintainers

  • Selventhiran Rengaraj
  • Ramaseshan Subramanian
  • Naveen Sathiyaseelan
  • Dhinesh Panneerselvam
  • Rahul Gandhi Sundar

Authors

No additional authors.
perception/autoware_tensorrt_bevformer/README.md

tensorrt_bevformer

Purpose

The core algorithm, named BEVFormer, unifies multi-view images into the BEV perspective for 3D object detection tasks with temporal fusion.

Inner-workings / Algorithms

Cite

  • Zhicheng Wang, et al., “BEVFormer: Incorporating Transformers for Multi-Camera 3D Detection” [ref]
  • This node is ported and adapted for Autoware from Multicoreware’s BEVFormer ROS2 C++ repository.

Inputs / Outputs

Inputs

Name Type Description
~/input/topic_img_front_left sensor_msgs::msg::Image input front_left camera image
~/input/topic_img_front sensor_msgs::msg::Image input front camera image
~/input/topic_img_front_right sensor_msgs::msg::Image input front_right camera image
~/input/topic_img_back_left sensor_msgs::msg::Image input back_left camera image
~/input/topic_img_back sensor_msgs::msg::Image input back camera image
~/input/topic_img_back_right sensor_msgs::msg::Image input back_right camera image
~/input/topic_img_front_left/camera_info sensor_msgs::msg::CameraInfo input front_left camera parameters
~/input/topic_img_front/camera_info sensor_msgs::msg::CameraInfo input front camera parameters
~/input/topic_img_front_right/camera_info sensor_msgs::msg::CameraInfo input front_right camera parameters
~/input/topic_img_back_left/camera_info sensor_msgs::msg::CameraInfo input back_left camera parameters
~/input/topic_img_back/camera_info sensor_msgs::msg::CameraInfo input back camera parameters
~/input/topic_img_back_right/camera_info sensor_msgs::msg::CameraInfo input back_right camera parameters
~/input/can_bus autoware_localization_msgs::msg::KinematicState CAN bus data for ego-motion

Outputs

Name Type Description
~/output_boxes autoware_perception_msgs::msg::DetectedObjects detected objects
~/output_bboxes visualization_msgs::msg::MarkerArray detected objects for nuScenes visualization

How to Use Tensorrt BEVFormer Node

Prerequisites

  • TensorRT 10.8.0.43
  • CUDA 12.4
  • cuDNN 8.9.2

Trained Model

Download the bevformer_small.onnx model to:

$HOME/autoware_data/tensorrt_bevformer

Note: The BEVFormer model was trained on the nuScenes dataset for 24 epochs with temporal fusion enabled.

Test TensorRT BEVFormer Node with nuScenes

  1. Integrate this package into your autoware_universe/perception directory.

  2. To play ROS 2 bag of nuScenes data:

   cd autoware/src
   git clone -b feature/bevformer-integration https://github.com/naveen-mcw/ros2_dataset_bridge.git
   cd ..

Note: The feature/bevformer-integration branch provides required data for the BEVFormer.

Download nuScenes dataset and canbus data here.

Open and edit the launch file to set dataset paths/configs:

   nano src/ros2_dataset_bridge/launch/nuscenes_launch.xml

Update as needed:

   <arg name="NUSCENES_DIR" default="<nuScenes_dataset_path>"/>
   <arg name="NUSCENES_CAN_BUS_DIR" default="<can_bus_path>"/>
   <arg name="NUSCENES_VER" default="v1.0-trainval"/>
   <arg name="UPDATE_FREQUENCY" default="10.0"/>
  1. Build the autoware_tensorrt_bevformer and ros2_dataset_bridge packages

```bash # Build ros2_dataset_bridge

colcon build –packages-up-to ros2_dataset_bridge

# Build autoware_tensorrt_bevformer

colcon build –packages-up-to autoware_tensorrt_bevformer

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/bevformer.launch.xml
      • input/img_front_left [default: /nuscenes/CAM_FRONT_LEFT/image]
      • input/img_front [default: /nuscenes/CAM_FRONT/image]
      • input/img_front_right [default: /nuscenes/CAM_FRONT_RIGHT/image]
      • input/img_back_left [default: /nuscenes/CAM_BACK_LEFT/image]
      • input/img_back [default: /nuscenes/CAM_BACK/image]
      • input/img_back_right [default: /nuscenes/CAM_BACK_RIGHT/image]
      • input/can_bus [default: /nuscenes/can_bus]
      • output_boxes [default: ~/output_boxes]
      • output_bboxes [default: ~/output/debug/markers/bounding_boxes]
      • input/img_front_left/camera_info [default: /nuscenes/CAM_FRONT_LEFT/camera_info]
      • input/img_front/camera_info [default: /nuscenes/CAM_FRONT/camera_info]
      • input/img_front_right/camera_info [default: /nuscenes/CAM_FRONT_RIGHT/camera_info]
      • input/img_back_left/camera_info [default: /nuscenes/CAM_BACK_LEFT/camera_info]
      • input/img_back/camera_info [default: /nuscenes/CAM_BACK/camera_info]
      • input/img_back_right/camera_info [default: /nuscenes/CAM_BACK_RIGHT/camera_info]
      • data_path [default: $(env HOME)/autoware_data/tensorrt_bevformer]
      • onnx_file [default: $(var data_path)/bevformer_small.onnx]
      • engine_file [default: $(var data_path)/bevformer_small.engine]
      • auto_convert [default: true]
      • precision [default: fp16]
      • debug_mode [default: false]
      • workspace_size [default: 4096]
      • model_name [default: bevformer_small]
      • param_file [default: $(find-pkg-share autoware_tensorrt_bevformer)/config/bevformer.param.yaml]
      • plugin_path [default: ]

Messages

No message files found.

Services

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Plugins

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