autoware_tp_manager

Here are some Python tools for collecting average TPs of PCD maps. Currently, we consider the decrease of TPs as a sign of map decay. However, we don’t know what TPs are ‘abnormal’, e.g. in some areas the TPs range around 2.0 ~ 3.0, while in others TPs float around 5.0. This package provides some tools to check it, including:

• TP collector: collect the average TPs per segment of a PCD map
• TP checker: compare a rosbag’s TPs with a map’s TPs and highlight the map areas where the rosbag’s TPs differ significantly from the map’s TPs.

Installation

cd <PATH_TO_pilot-auto.*> # OR <PATH_TO_autoware>
cd src/
git clone git@github.com:autowarefoundation/autoware_tools.git
cd ..
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests --symlink-install --packages-up-to autoware_tp_manager

Usage

• Collect the average TPs per segment from a map by TP_collector

  ros2 run autoware_tp_manager tp_collector.py <path_to_pcd_dir> <path_to_rosbag> <path_to_output_dir> [--resolution <resolution>] [--pose_topic <topic_of_poses>] [--tp_topic <topic_of_TPs>] [--scan_topic <topic_of_scans>]
  

Paths to folders should be specified as absolute paths.

The rosbag should contain the following topics

• /localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias
• /localization/pose_estimator/transform_probability
• /localization/util/downsample/pointcloud

The average TPs can be visualized on Rviz2 by running the following command

  python3 install/autoware_tp_manager/lib/autoware_tp_manager/tp_visualizer.py <path_to_output_dir>
  

then open another terminal to launch Rviz2 and add the topic /autoware_tp_visualizer.

• Compare a rosbags’ TPs with a map’s TPs by TP_checker

  ros2 run autoware_tp_manager tp_checker.py <path_to_score_dir> <path_to_rosbag> [--pose_topic <topic_of_poses>] [--tp_topic <topic_of_TPs>] [--scan_topic <topic_of_scans>] [--radius <radius>] [--drop_num <drop_num>]
  

The results of checking are published to the topic /autoware_tp_checker, and can also be displayed on Rviz2. The red points

• The rosbags used for both TP collector and TP checker is created by running Autoware’s logging simulator and record the following three topics:
  • /localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias [optional]
  • /localization/pose_estimator/transform_probability
  • /localization/util/downsample/pointcloud

Parameter

{{ json_to_markdown(“map/autoware_tp_manager/schema/tp_manager.schema.json”) }}

LICENSE

This package is under Apache License 2.0

Changelog for package autoware_tp_manager

0.3.0 (2025-08-11)

• style(pre-commit): autofix (#275)

  • apply pre-commit

  * fix: add maintainer in planning_debug tools package.xml ---------

• feat: add tools to collect and check average TPs of PCD maps (#213)

  • Move all parameters of point cloud divider to launch xml file
  • style(pre-commit): autofix
  • Cleaning things
  • style(pre-commit): autofix
  • Remove unused package
  • Add maintainers from L/M team
  • style(pre-commit): autofix
  • Make TP checker check poses instead of segments
  • style(pre-commit): autofix
  • Move parameters of point cloud divider to xml files
  • style(pre-commit): autofix
  • Fixed issues detected by pre-commit.ci
  • style(pre-commit): autofix
  • Fixed issues detected by pre-commit.ci
  • style(pre-commit): autofix
  • Fixed issues detected by pre-commit.ci
  • Use range query to search for segments when scan topic is not available
  • style(pre-commit): autofix
  • Change range to query_range and radius to avoid shadowing python's built-in variable
  • Mark changed segments passed by the vehicle
  • style(pre-commit): autofix
  • Update README
  • style(pre-commit): autofix
  • Fixing comments
  • style(pre-commit): autofix
  • Remove LICENSE file
  • Add a smooth color band to visualize average TPs and enable checking results to be saved to files
  • style(pre-commit): autofix
  • Fix a bug in tp_collector
  • style(pre-commit): autofix
  • Delete rosbag_filter.py, which was accidentally added

  * Fixed tp checker and collector ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Contributors: Anh Nguyen, Kyoichi Sugahara