Package Summary
Tags | No category tags. |
Version | 1.12.0 |
License | Apache 2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | autoware.ai perf |
Checkout URI | https://github.com/is-whale/autoware_learn.git |
VCS Type | git |
VCS Version | 1.14 |
Last Updated | 2025-03-14 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Abraham Monrroy
Authors
Road Occupancy Processor
This package generates the occupancy grid indicating the status of the road. It uses the point cloud from a filtered sensor and the ADAS Map data.
The occupancy grid can be conceptualized as a one dimensional 8-bit depth bitmap.
This package publishes a GridMap/OccupancyGrid with four different possible values:
- UNKNOWN
- FREE
- NO ROAD
- OCCUPIED
These values can be set using parameters, as described in the Configuration Parameters section below.
Extra requirements for compilation
- GridMap (http://wiki.ros.org/grid_map)
Prerequisites
- Localization working (TF between velodyne and world)
- PCD Map (map)
- TF for the Map (tf map->world)
- NDT matching (tf world-> base_link)
- Base link to Localizer (tf base_link -> velodyne)
- Ground filtering method publishing
/points_ground
and/points_no_ground
. Autoware has three available:ray_ground_filter
ring_ground_filter
-
euclidean_cluster
with Planar Ground removal
-
wayarea2gridmap
node from Semantics in the Computing Tab- Vector Map in
/vector_map
(also known as ADAS Map)- VectorMap must contain the definition of road areas (way_areas)
- Vector Map in
Data subscription
This node subscribes to:
- Ground filtered in
/points_ground
(sensor_msgs::PointCloud) - Obstacle points in
/points_no_ground
(sensor_msgs::PointCloud) - GridMap containing the road processed in
/grid_map_wayarea
(grid_map::GridMap)
Data publishing
-
gridmap_road_status
publishes the native format of the grid_map package. This can be used to extend the functionalities of this package. -
occupancy_road_status
publishes the native rosnav_msgs::OccupancyGrid
message.
How to run
From a sourced terminal in the workspace:
roslaunch road_occupancy_processor road_occupancy_processor.launch
Quick Setup
This is only a quick guide, each node must be properly configured
- Load PointCloud Map (Map tab)
- Load VectorMap with wayareas available (Map tab)
- Load TF between map and world frames (Map tab)
- Load TF between base_link and Localizer (Setup tab)
- Launch voxel_grid_filter (Sensing tab/Points Downsampler)
- Launch ray_ground_filter (Sensing tab/Points Preprocessor)
- Launch ndt_matching (Computing tab/Localization)
- Initialize NDT pose
- Launch wayarea2grid (Computing tab/Localization)
- Launch road_occupancy_processor (Computing tab/Localization)
Configuration parameters
-
points_ground_src
(default="points_ground"
) defines the PointCloud source topic containing only the ground points. -
points_no_ground_src
(default="points_no_ground"
) defines the PointCloud source topic containing only the obstacle points. -
wayarea_topic_src
(default=grid_map_wayarea
) defines the name of the topic containing the grid_map_msgs:GridMap containing the road areas. -
wayarea_layer_name
(default="wayarea"
) defines the name of the layer in the topicwayarea_topic_src
that contains the road areas. -
output_layer_name
(default=road_status
) defines name of the output layer in the published GridMap object. If running several instances, each vehicle one can publish a different layer and later add them. -
road_unknown_value
(default="128"
) indicates the value to fill in the occupancy grid when a cell is UNKNOWN. -
road_free_value
(default="75"
) indicates the value to fill in the occupancy grid when a cell is FREE. Should be a number between 0-255. -
road_occupied_value
(default="0"
) indicates the value to fill in the occupancy grid when a cell is OCCUPIED. Should be a number between 0-255. -
no_road_value
(default="255"
) indicates the value to fill in the occupancy grid when a cell is NO ROAD. Should be a number between 0-255.
Coordinate Frame
The occupancy grid is published in the same coordinate frame as the input GridMap from /grid_map_wayarea
.
Color representation using default values
Black color represents areas not defined as NO ROAD in the vector map.
Dark gray indicates UNKNOWN areas as detected by this node.
Light gray means the area is FREE.
White is used for OCCUPIED areas.
Changelog for package road_occupancy_processor
1.11.0 (2019-03-21)
- [fix] Install commands for all the packages
(#1861)
-
Initial fixes to detection, sensing, semantics and utils
-
fixing wrong filename on install command
-
Fixes to install commands
-
Hokuyo fix name
-
Fix obj db
-
Obj db include fixes
-
End of final cleaning sweep
-
Incorrect command order in runtime manager
-
Param tempfile not required by runtime_manager
-
- Fixes to runtime manager install commands
-
Remove devel directory from catkin, if any
-
Updated launch files for robosense
-
Updated robosense
-
Fix/add missing install (#1977)
-
Added launch install to lidar_kf_contour_track
-
Added install to op_global_planner
-
Added install to way_planner
-
Added install to op_local_planner
-
Added install to op_simulation_package
-
Added install to op_utilities
-
Added install to sync
-
- Improved installation script for pointgrey packages
-
Fixed nodelet error for gmsl cameras
-
USe install space in catkin as well
-
add install to catkin
-
Fix install directives (#1990)
-
Fixed installation path
-
Fixed params installation path
-
Fixed cfg installation path
- Delete cache on colcon_release
-
- Fix license notice in corresponding package.xml
- Contributors: Abraham Monrroy Cano, amc-nu
1.10.0 (2019-01-17)
- Switch to Apache 2 license (develop branch)
(#1741)
- Switch to Apache 2
* Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.
- Update license on Python files
- Update copyright years
- Add #ifndef/define _POINTS_IMAGE_H_
- Updated license comment
- Use colcon as the build tool
(#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
- Fix Ros/ROS naming convention
- Contributors: Esteve Fernandez
1.9.1 (2018-11-06)
1.9.0 (2018-10-31)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_build_flags | |
catkin | |
cv_bridge | |
grid_map_cv | |
grid_map_msgs | |
grid_map_ros | |
image_transport | |
nav_msgs | |
pcl_conversions | |
pcl_ros | |
roscpp | |
sensor_msgs | |
tf | |
vector_map |
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Launch files
- launch/road_occupancy_processor.launch
-
- points_ground_src [default: points_ground]
- points_no_ground_src [default: points_no_ground]
- wayarea_topic_src [default: grid_map_wayarea]
- wayarea_layer_name [default: wayarea]
- output_layer_name [default: road_status]
- road_unknown_value [default: 128]
- road_free_value [default: 75]
- road_occupied_value [default: 0]
- no_road_value [default: 255]
Messages
Services
Plugins
Recent questions tagged road_occupancy_processor at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.12.0 |
License | Apache 2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | autoware.ai perf |
Checkout URI | https://github.com/is-whale/autoware_learn.git |
VCS Type | git |
VCS Version | 1.14 |
Last Updated | 2025-03-14 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Abraham Monrroy
Authors
Road Occupancy Processor
This package generates the occupancy grid indicating the status of the road. It uses the point cloud from a filtered sensor and the ADAS Map data.
The occupancy grid can be conceptualized as a one dimensional 8-bit depth bitmap.
This package publishes a GridMap/OccupancyGrid with four different possible values:
- UNKNOWN
- FREE
- NO ROAD
- OCCUPIED
These values can be set using parameters, as described in the Configuration Parameters section below.
Extra requirements for compilation
- GridMap (http://wiki.ros.org/grid_map)
Prerequisites
- Localization working (TF between velodyne and world)
- PCD Map (map)
- TF for the Map (tf map->world)
- NDT matching (tf world-> base_link)
- Base link to Localizer (tf base_link -> velodyne)
- Ground filtering method publishing
/points_ground
and/points_no_ground
. Autoware has three available:ray_ground_filter
ring_ground_filter
-
euclidean_cluster
with Planar Ground removal
-
wayarea2gridmap
node from Semantics in the Computing Tab- Vector Map in
/vector_map
(also known as ADAS Map)- VectorMap must contain the definition of road areas (way_areas)
- Vector Map in
Data subscription
This node subscribes to:
- Ground filtered in
/points_ground
(sensor_msgs::PointCloud) - Obstacle points in
/points_no_ground
(sensor_msgs::PointCloud) - GridMap containing the road processed in
/grid_map_wayarea
(grid_map::GridMap)
Data publishing
-
gridmap_road_status
publishes the native format of the grid_map package. This can be used to extend the functionalities of this package. -
occupancy_road_status
publishes the native rosnav_msgs::OccupancyGrid
message.
How to run
From a sourced terminal in the workspace:
roslaunch road_occupancy_processor road_occupancy_processor.launch
Quick Setup
This is only a quick guide, each node must be properly configured
- Load PointCloud Map (Map tab)
- Load VectorMap with wayareas available (Map tab)
- Load TF between map and world frames (Map tab)
- Load TF between base_link and Localizer (Setup tab)
- Launch voxel_grid_filter (Sensing tab/Points Downsampler)
- Launch ray_ground_filter (Sensing tab/Points Preprocessor)
- Launch ndt_matching (Computing tab/Localization)
- Initialize NDT pose
- Launch wayarea2grid (Computing tab/Localization)
- Launch road_occupancy_processor (Computing tab/Localization)
Configuration parameters
-
points_ground_src
(default="points_ground"
) defines the PointCloud source topic containing only the ground points. -
points_no_ground_src
(default="points_no_ground"
) defines the PointCloud source topic containing only the obstacle points. -
wayarea_topic_src
(default=grid_map_wayarea
) defines the name of the topic containing the grid_map_msgs:GridMap containing the road areas. -
wayarea_layer_name
(default="wayarea"
) defines the name of the layer in the topicwayarea_topic_src
that contains the road areas. -
output_layer_name
(default=road_status
) defines name of the output layer in the published GridMap object. If running several instances, each vehicle one can publish a different layer and later add them. -
road_unknown_value
(default="128"
) indicates the value to fill in the occupancy grid when a cell is UNKNOWN. -
road_free_value
(default="75"
) indicates the value to fill in the occupancy grid when a cell is FREE. Should be a number between 0-255. -
road_occupied_value
(default="0"
) indicates the value to fill in the occupancy grid when a cell is OCCUPIED. Should be a number between 0-255. -
no_road_value
(default="255"
) indicates the value to fill in the occupancy grid when a cell is NO ROAD. Should be a number between 0-255.
Coordinate Frame
The occupancy grid is published in the same coordinate frame as the input GridMap from /grid_map_wayarea
.
Color representation using default values
Black color represents areas not defined as NO ROAD in the vector map.
Dark gray indicates UNKNOWN areas as detected by this node.
Light gray means the area is FREE.
White is used for OCCUPIED areas.
Changelog for package road_occupancy_processor
1.11.0 (2019-03-21)
- [fix] Install commands for all the packages
(#1861)
-
Initial fixes to detection, sensing, semantics and utils
-
fixing wrong filename on install command
-
Fixes to install commands
-
Hokuyo fix name
-
Fix obj db
-
Obj db include fixes
-
End of final cleaning sweep
-
Incorrect command order in runtime manager
-
Param tempfile not required by runtime_manager
-
- Fixes to runtime manager install commands
-
Remove devel directory from catkin, if any
-
Updated launch files for robosense
-
Updated robosense
-
Fix/add missing install (#1977)
-
Added launch install to lidar_kf_contour_track
-
Added install to op_global_planner
-
Added install to way_planner
-
Added install to op_local_planner
-
Added install to op_simulation_package
-
Added install to op_utilities
-
Added install to sync
-
- Improved installation script for pointgrey packages
-
Fixed nodelet error for gmsl cameras
-
USe install space in catkin as well
-
add install to catkin
-
Fix install directives (#1990)
-
Fixed installation path
-
Fixed params installation path
-
Fixed cfg installation path
- Delete cache on colcon_release
-
- Fix license notice in corresponding package.xml
- Contributors: Abraham Monrroy Cano, amc-nu
1.10.0 (2019-01-17)
- Switch to Apache 2 license (develop branch)
(#1741)
- Switch to Apache 2
* Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.
- Update license on Python files
- Update copyright years
- Add #ifndef/define _POINTS_IMAGE_H_
- Updated license comment
- Use colcon as the build tool
(#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
- Fix Ros/ROS naming convention
- Contributors: Esteve Fernandez
1.9.1 (2018-11-06)
1.9.0 (2018-10-31)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_build_flags | |
catkin | |
cv_bridge | |
grid_map_cv | |
grid_map_msgs | |
grid_map_ros | |
image_transport | |
nav_msgs | |
pcl_conversions | |
pcl_ros | |
roscpp | |
sensor_msgs | |
tf | |
vector_map |
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Launch files
- launch/road_occupancy_processor.launch
-
- points_ground_src [default: points_ground]
- points_no_ground_src [default: points_no_ground]
- wayarea_topic_src [default: grid_map_wayarea]
- wayarea_layer_name [default: wayarea]
- output_layer_name [default: road_status]
- road_unknown_value [default: 128]
- road_free_value [default: 75]
- road_occupied_value [default: 0]
- no_road_value [default: 255]
Messages
Services
Plugins
Recent questions tagged road_occupancy_processor at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.12.0 |
License | Apache 2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | autoware.ai perf |
Checkout URI | https://github.com/is-whale/autoware_learn.git |
VCS Type | git |
VCS Version | 1.14 |
Last Updated | 2025-03-14 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Abraham Monrroy
Authors
Road Occupancy Processor
This package generates the occupancy grid indicating the status of the road. It uses the point cloud from a filtered sensor and the ADAS Map data.
The occupancy grid can be conceptualized as a one dimensional 8-bit depth bitmap.
This package publishes a GridMap/OccupancyGrid with four different possible values:
- UNKNOWN
- FREE
- NO ROAD
- OCCUPIED
These values can be set using parameters, as described in the Configuration Parameters section below.
Extra requirements for compilation
- GridMap (http://wiki.ros.org/grid_map)
Prerequisites
- Localization working (TF between velodyne and world)
- PCD Map (map)
- TF for the Map (tf map->world)
- NDT matching (tf world-> base_link)
- Base link to Localizer (tf base_link -> velodyne)
- Ground filtering method publishing
/points_ground
and/points_no_ground
. Autoware has three available:ray_ground_filter
ring_ground_filter
-
euclidean_cluster
with Planar Ground removal
-
wayarea2gridmap
node from Semantics in the Computing Tab- Vector Map in
/vector_map
(also known as ADAS Map)- VectorMap must contain the definition of road areas (way_areas)
- Vector Map in
Data subscription
This node subscribes to:
- Ground filtered in
/points_ground
(sensor_msgs::PointCloud) - Obstacle points in
/points_no_ground
(sensor_msgs::PointCloud) - GridMap containing the road processed in
/grid_map_wayarea
(grid_map::GridMap)
Data publishing
-
gridmap_road_status
publishes the native format of the grid_map package. This can be used to extend the functionalities of this package. -
occupancy_road_status
publishes the native rosnav_msgs::OccupancyGrid
message.
How to run
From a sourced terminal in the workspace:
roslaunch road_occupancy_processor road_occupancy_processor.launch
Quick Setup
This is only a quick guide, each node must be properly configured
- Load PointCloud Map (Map tab)
- Load VectorMap with wayareas available (Map tab)
- Load TF between map and world frames (Map tab)
- Load TF between base_link and Localizer (Setup tab)
- Launch voxel_grid_filter (Sensing tab/Points Downsampler)
- Launch ray_ground_filter (Sensing tab/Points Preprocessor)
- Launch ndt_matching (Computing tab/Localization)
- Initialize NDT pose
- Launch wayarea2grid (Computing tab/Localization)
- Launch road_occupancy_processor (Computing tab/Localization)
Configuration parameters
-
points_ground_src
(default="points_ground"
) defines the PointCloud source topic containing only the ground points. -
points_no_ground_src
(default="points_no_ground"
) defines the PointCloud source topic containing only the obstacle points. -
wayarea_topic_src
(default=grid_map_wayarea
) defines the name of the topic containing the grid_map_msgs:GridMap containing the road areas. -
wayarea_layer_name
(default="wayarea"
) defines the name of the layer in the topicwayarea_topic_src
that contains the road areas. -
output_layer_name
(default=road_status
) defines name of the output layer in the published GridMap object. If running several instances, each vehicle one can publish a different layer and later add them. -
road_unknown_value
(default="128"
) indicates the value to fill in the occupancy grid when a cell is UNKNOWN. -
road_free_value
(default="75"
) indicates the value to fill in the occupancy grid when a cell is FREE. Should be a number between 0-255. -
road_occupied_value
(default="0"
) indicates the value to fill in the occupancy grid when a cell is OCCUPIED. Should be a number between 0-255. -
no_road_value
(default="255"
) indicates the value to fill in the occupancy grid when a cell is NO ROAD. Should be a number between 0-255.
Coordinate Frame
The occupancy grid is published in the same coordinate frame as the input GridMap from /grid_map_wayarea
.
Color representation using default values
Black color represents areas not defined as NO ROAD in the vector map.
Dark gray indicates UNKNOWN areas as detected by this node.
Light gray means the area is FREE.
White is used for OCCUPIED areas.
Changelog for package road_occupancy_processor
1.11.0 (2019-03-21)
- [fix] Install commands for all the packages
(#1861)
-
Initial fixes to detection, sensing, semantics and utils
-
fixing wrong filename on install command
-
Fixes to install commands
-
Hokuyo fix name
-
Fix obj db
-
Obj db include fixes
-
End of final cleaning sweep
-
Incorrect command order in runtime manager
-
Param tempfile not required by runtime_manager
-
- Fixes to runtime manager install commands
-
Remove devel directory from catkin, if any
-
Updated launch files for robosense
-
Updated robosense
-
Fix/add missing install (#1977)
-
Added launch install to lidar_kf_contour_track
-
Added install to op_global_planner
-
Added install to way_planner
-
Added install to op_local_planner
-
Added install to op_simulation_package
-
Added install to op_utilities
-
Added install to sync
-
- Improved installation script for pointgrey packages
-
Fixed nodelet error for gmsl cameras
-
USe install space in catkin as well
-
add install to catkin
-
Fix install directives (#1990)
-
Fixed installation path
-
Fixed params installation path
-
Fixed cfg installation path
- Delete cache on colcon_release
-
- Fix license notice in corresponding package.xml
- Contributors: Abraham Monrroy Cano, amc-nu
1.10.0 (2019-01-17)
- Switch to Apache 2 license (develop branch)
(#1741)
- Switch to Apache 2
* Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.
- Update license on Python files
- Update copyright years
- Add #ifndef/define _POINTS_IMAGE_H_
- Updated license comment
- Use colcon as the build tool
(#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
- Fix Ros/ROS naming convention
- Contributors: Esteve Fernandez
1.9.1 (2018-11-06)
1.9.0 (2018-10-31)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_build_flags | |
catkin | |
cv_bridge | |
grid_map_cv | |
grid_map_msgs | |
grid_map_ros | |
image_transport | |
nav_msgs | |
pcl_conversions | |
pcl_ros | |
roscpp | |
sensor_msgs | |
tf | |
vector_map |
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Launch files
- launch/road_occupancy_processor.launch
-
- points_ground_src [default: points_ground]
- points_no_ground_src [default: points_no_ground]
- wayarea_topic_src [default: grid_map_wayarea]
- wayarea_layer_name [default: wayarea]
- output_layer_name [default: road_status]
- road_unknown_value [default: 128]
- road_free_value [default: 75]
- road_occupied_value [default: 0]
- no_road_value [default: 255]
Messages
Services
Plugins
Recent questions tagged road_occupancy_processor at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.12.0 |
License | Apache 2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | autoware.ai perf |
Checkout URI | https://github.com/is-whale/autoware_learn.git |
VCS Type | git |
VCS Version | 1.14 |
Last Updated | 2025-03-14 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Abraham Monrroy
Authors
Road Occupancy Processor
This package generates the occupancy grid indicating the status of the road. It uses the point cloud from a filtered sensor and the ADAS Map data.
The occupancy grid can be conceptualized as a one dimensional 8-bit depth bitmap.
This package publishes a GridMap/OccupancyGrid with four different possible values:
- UNKNOWN
- FREE
- NO ROAD
- OCCUPIED
These values can be set using parameters, as described in the Configuration Parameters section below.
Extra requirements for compilation
- GridMap (http://wiki.ros.org/grid_map)
Prerequisites
- Localization working (TF between velodyne and world)
- PCD Map (map)
- TF for the Map (tf map->world)
- NDT matching (tf world-> base_link)
- Base link to Localizer (tf base_link -> velodyne)
- Ground filtering method publishing
/points_ground
and/points_no_ground
. Autoware has three available:ray_ground_filter
ring_ground_filter
-
euclidean_cluster
with Planar Ground removal
-
wayarea2gridmap
node from Semantics in the Computing Tab- Vector Map in
/vector_map
(also known as ADAS Map)- VectorMap must contain the definition of road areas (way_areas)
- Vector Map in
Data subscription
This node subscribes to:
- Ground filtered in
/points_ground
(sensor_msgs::PointCloud) - Obstacle points in
/points_no_ground
(sensor_msgs::PointCloud) - GridMap containing the road processed in
/grid_map_wayarea
(grid_map::GridMap)
Data publishing
-
gridmap_road_status
publishes the native format of the grid_map package. This can be used to extend the functionalities of this package. -
occupancy_road_status
publishes the native rosnav_msgs::OccupancyGrid
message.
How to run
From a sourced terminal in the workspace:
roslaunch road_occupancy_processor road_occupancy_processor.launch
Quick Setup
This is only a quick guide, each node must be properly configured
- Load PointCloud Map (Map tab)
- Load VectorMap with wayareas available (Map tab)
- Load TF between map and world frames (Map tab)
- Load TF between base_link and Localizer (Setup tab)
- Launch voxel_grid_filter (Sensing tab/Points Downsampler)
- Launch ray_ground_filter (Sensing tab/Points Preprocessor)
- Launch ndt_matching (Computing tab/Localization)
- Initialize NDT pose
- Launch wayarea2grid (Computing tab/Localization)
- Launch road_occupancy_processor (Computing tab/Localization)
Configuration parameters
-
points_ground_src
(default="points_ground"
) defines the PointCloud source topic containing only the ground points. -
points_no_ground_src
(default="points_no_ground"
) defines the PointCloud source topic containing only the obstacle points. -
wayarea_topic_src
(default=grid_map_wayarea
) defines the name of the topic containing the grid_map_msgs:GridMap containing the road areas. -
wayarea_layer_name
(default="wayarea"
) defines the name of the layer in the topicwayarea_topic_src
that contains the road areas. -
output_layer_name
(default=road_status
) defines name of the output layer in the published GridMap object. If running several instances, each vehicle one can publish a different layer and later add them. -
road_unknown_value
(default="128"
) indicates the value to fill in the occupancy grid when a cell is UNKNOWN. -
road_free_value
(default="75"
) indicates the value to fill in the occupancy grid when a cell is FREE. Should be a number between 0-255. -
road_occupied_value
(default="0"
) indicates the value to fill in the occupancy grid when a cell is OCCUPIED. Should be a number between 0-255. -
no_road_value
(default="255"
) indicates the value to fill in the occupancy grid when a cell is NO ROAD. Should be a number between 0-255.
Coordinate Frame
The occupancy grid is published in the same coordinate frame as the input GridMap from /grid_map_wayarea
.
Color representation using default values
Black color represents areas not defined as NO ROAD in the vector map.
Dark gray indicates UNKNOWN areas as detected by this node.
Light gray means the area is FREE.
White is used for OCCUPIED areas.
Changelog for package road_occupancy_processor
1.11.0 (2019-03-21)
- [fix] Install commands for all the packages
(#1861)
-
Initial fixes to detection, sensing, semantics and utils
-
fixing wrong filename on install command
-
Fixes to install commands
-
Hokuyo fix name
-
Fix obj db
-
Obj db include fixes
-
End of final cleaning sweep
-
Incorrect command order in runtime manager
-
Param tempfile not required by runtime_manager
-
- Fixes to runtime manager install commands
-
Remove devel directory from catkin, if any
-
Updated launch files for robosense
-
Updated robosense
-
Fix/add missing install (#1977)
-
Added launch install to lidar_kf_contour_track
-
Added install to op_global_planner
-
Added install to way_planner
-
Added install to op_local_planner
-
Added install to op_simulation_package
-
Added install to op_utilities
-
Added install to sync
-
- Improved installation script for pointgrey packages
-
Fixed nodelet error for gmsl cameras
-
USe install space in catkin as well
-
add install to catkin
-
Fix install directives (#1990)
-
Fixed installation path
-
Fixed params installation path
-
Fixed cfg installation path
- Delete cache on colcon_release
-
- Fix license notice in corresponding package.xml
- Contributors: Abraham Monrroy Cano, amc-nu
1.10.0 (2019-01-17)
- Switch to Apache 2 license (develop branch)
(#1741)
- Switch to Apache 2
* Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.
- Update license on Python files
- Update copyright years
- Add #ifndef/define _POINTS_IMAGE_H_
- Updated license comment
- Use colcon as the build tool
(#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
- Fix Ros/ROS naming convention
- Contributors: Esteve Fernandez
1.9.1 (2018-11-06)
1.9.0 (2018-10-31)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_build_flags | |
catkin | |
cv_bridge | |
grid_map_cv | |
grid_map_msgs | |
grid_map_ros | |
image_transport | |
nav_msgs | |
pcl_conversions | |
pcl_ros | |
roscpp | |
sensor_msgs | |
tf | |
vector_map |
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Launch files
- launch/road_occupancy_processor.launch
-
- points_ground_src [default: points_ground]
- points_no_ground_src [default: points_no_ground]
- wayarea_topic_src [default: grid_map_wayarea]
- wayarea_layer_name [default: wayarea]
- output_layer_name [default: road_status]
- road_unknown_value [default: 128]
- road_free_value [default: 75]
- road_occupied_value [default: 0]
- no_road_value [default: 255]
Messages
Services
Plugins
Recent questions tagged road_occupancy_processor at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.12.0 |
License | Apache 2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | autoware.ai perf |
Checkout URI | https://github.com/is-whale/autoware_learn.git |
VCS Type | git |
VCS Version | 1.14 |
Last Updated | 2025-03-14 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Abraham Monrroy
Authors
Road Occupancy Processor
This package generates the occupancy grid indicating the status of the road. It uses the point cloud from a filtered sensor and the ADAS Map data.
The occupancy grid can be conceptualized as a one dimensional 8-bit depth bitmap.
This package publishes a GridMap/OccupancyGrid with four different possible values:
- UNKNOWN
- FREE
- NO ROAD
- OCCUPIED
These values can be set using parameters, as described in the Configuration Parameters section below.
Extra requirements for compilation
- GridMap (http://wiki.ros.org/grid_map)
Prerequisites
- Localization working (TF between velodyne and world)
- PCD Map (map)
- TF for the Map (tf map->world)
- NDT matching (tf world-> base_link)
- Base link to Localizer (tf base_link -> velodyne)
- Ground filtering method publishing
/points_ground
and/points_no_ground
. Autoware has three available:ray_ground_filter
ring_ground_filter
-
euclidean_cluster
with Planar Ground removal
-
wayarea2gridmap
node from Semantics in the Computing Tab- Vector Map in
/vector_map
(also known as ADAS Map)- VectorMap must contain the definition of road areas (way_areas)
- Vector Map in
Data subscription
This node subscribes to:
- Ground filtered in
/points_ground
(sensor_msgs::PointCloud) - Obstacle points in
/points_no_ground
(sensor_msgs::PointCloud) - GridMap containing the road processed in
/grid_map_wayarea
(grid_map::GridMap)
Data publishing
-
gridmap_road_status
publishes the native format of the grid_map package. This can be used to extend the functionalities of this package. -
occupancy_road_status
publishes the native rosnav_msgs::OccupancyGrid
message.
How to run
From a sourced terminal in the workspace:
roslaunch road_occupancy_processor road_occupancy_processor.launch
Quick Setup
This is only a quick guide, each node must be properly configured
- Load PointCloud Map (Map tab)
- Load VectorMap with wayareas available (Map tab)
- Load TF between map and world frames (Map tab)
- Load TF between base_link and Localizer (Setup tab)
- Launch voxel_grid_filter (Sensing tab/Points Downsampler)
- Launch ray_ground_filter (Sensing tab/Points Preprocessor)
- Launch ndt_matching (Computing tab/Localization)
- Initialize NDT pose
- Launch wayarea2grid (Computing tab/Localization)
- Launch road_occupancy_processor (Computing tab/Localization)
Configuration parameters
-
points_ground_src
(default="points_ground"
) defines the PointCloud source topic containing only the ground points. -
points_no_ground_src
(default="points_no_ground"
) defines the PointCloud source topic containing only the obstacle points. -
wayarea_topic_src
(default=grid_map_wayarea
) defines the name of the topic containing the grid_map_msgs:GridMap containing the road areas. -
wayarea_layer_name
(default="wayarea"
) defines the name of the layer in the topicwayarea_topic_src
that contains the road areas. -
output_layer_name
(default=road_status
) defines name of the output layer in the published GridMap object. If running several instances, each vehicle one can publish a different layer and later add them. -
road_unknown_value
(default="128"
) indicates the value to fill in the occupancy grid when a cell is UNKNOWN. -
road_free_value
(default="75"
) indicates the value to fill in the occupancy grid when a cell is FREE. Should be a number between 0-255. -
road_occupied_value
(default="0"
) indicates the value to fill in the occupancy grid when a cell is OCCUPIED. Should be a number between 0-255. -
no_road_value
(default="255"
) indicates the value to fill in the occupancy grid when a cell is NO ROAD. Should be a number between 0-255.
Coordinate Frame
The occupancy grid is published in the same coordinate frame as the input GridMap from /grid_map_wayarea
.
Color representation using default values
Black color represents areas not defined as NO ROAD in the vector map.
Dark gray indicates UNKNOWN areas as detected by this node.
Light gray means the area is FREE.
White is used for OCCUPIED areas.
Changelog for package road_occupancy_processor
1.11.0 (2019-03-21)
- [fix] Install commands for all the packages
(#1861)
-
Initial fixes to detection, sensing, semantics and utils
-
fixing wrong filename on install command
-
Fixes to install commands
-
Hokuyo fix name
-
Fix obj db
-
Obj db include fixes
-
End of final cleaning sweep
-
Incorrect command order in runtime manager
-
Param tempfile not required by runtime_manager
-
- Fixes to runtime manager install commands
-
Remove devel directory from catkin, if any
-
Updated launch files for robosense
-
Updated robosense
-
Fix/add missing install (#1977)
-
Added launch install to lidar_kf_contour_track
-
Added install to op_global_planner
-
Added install to way_planner
-
Added install to op_local_planner
-
Added install to op_simulation_package
-
Added install to op_utilities
-
Added install to sync
-
- Improved installation script for pointgrey packages
-
Fixed nodelet error for gmsl cameras
-
USe install space in catkin as well
-
add install to catkin
-
Fix install directives (#1990)
-
Fixed installation path
-
Fixed params installation path
-
Fixed cfg installation path
- Delete cache on colcon_release
-
- Fix license notice in corresponding package.xml
- Contributors: Abraham Monrroy Cano, amc-nu
1.10.0 (2019-01-17)
- Switch to Apache 2 license (develop branch)
(#1741)
- Switch to Apache 2
* Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.
- Update license on Python files
- Update copyright years
- Add #ifndef/define _POINTS_IMAGE_H_
- Updated license comment
- Use colcon as the build tool
(#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
- Fix Ros/ROS naming convention
- Contributors: Esteve Fernandez
1.9.1 (2018-11-06)
1.9.0 (2018-10-31)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_build_flags | |
catkin | |
cv_bridge | |
grid_map_cv | |
grid_map_msgs | |
grid_map_ros | |
image_transport | |
nav_msgs | |
pcl_conversions | |
pcl_ros | |
roscpp | |
sensor_msgs | |
tf | |
vector_map |
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Launch files
- launch/road_occupancy_processor.launch
-
- points_ground_src [default: points_ground]
- points_no_ground_src [default: points_no_ground]
- wayarea_topic_src [default: grid_map_wayarea]
- wayarea_layer_name [default: wayarea]
- output_layer_name [default: road_status]
- road_unknown_value [default: 128]
- road_free_value [default: 75]
- road_occupied_value [default: 0]
- no_road_value [default: 255]
Messages
Services
Plugins
Recent questions tagged road_occupancy_processor at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.12.0 |
License | Apache 2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | autoware.ai perf |
Checkout URI | https://github.com/is-whale/autoware_learn.git |
VCS Type | git |
VCS Version | 1.14 |
Last Updated | 2025-03-14 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Abraham Monrroy
Authors
Road Occupancy Processor
This package generates the occupancy grid indicating the status of the road. It uses the point cloud from a filtered sensor and the ADAS Map data.
The occupancy grid can be conceptualized as a one dimensional 8-bit depth bitmap.
This package publishes a GridMap/OccupancyGrid with four different possible values:
- UNKNOWN
- FREE
- NO ROAD
- OCCUPIED
These values can be set using parameters, as described in the Configuration Parameters section below.
Extra requirements for compilation
- GridMap (http://wiki.ros.org/grid_map)
Prerequisites
- Localization working (TF between velodyne and world)
- PCD Map (map)
- TF for the Map (tf map->world)
- NDT matching (tf world-> base_link)
- Base link to Localizer (tf base_link -> velodyne)
- Ground filtering method publishing
/points_ground
and/points_no_ground
. Autoware has three available:ray_ground_filter
ring_ground_filter
-
euclidean_cluster
with Planar Ground removal
-
wayarea2gridmap
node from Semantics in the Computing Tab- Vector Map in
/vector_map
(also known as ADAS Map)- VectorMap must contain the definition of road areas (way_areas)
- Vector Map in
Data subscription
This node subscribes to:
- Ground filtered in
/points_ground
(sensor_msgs::PointCloud) - Obstacle points in
/points_no_ground
(sensor_msgs::PointCloud) - GridMap containing the road processed in
/grid_map_wayarea
(grid_map::GridMap)
Data publishing
-
gridmap_road_status
publishes the native format of the grid_map package. This can be used to extend the functionalities of this package. -
occupancy_road_status
publishes the native rosnav_msgs::OccupancyGrid
message.
How to run
From a sourced terminal in the workspace:
roslaunch road_occupancy_processor road_occupancy_processor.launch
Quick Setup
This is only a quick guide, each node must be properly configured
- Load PointCloud Map (Map tab)
- Load VectorMap with wayareas available (Map tab)
- Load TF between map and world frames (Map tab)
- Load TF between base_link and Localizer (Setup tab)
- Launch voxel_grid_filter (Sensing tab/Points Downsampler)
- Launch ray_ground_filter (Sensing tab/Points Preprocessor)
- Launch ndt_matching (Computing tab/Localization)
- Initialize NDT pose
- Launch wayarea2grid (Computing tab/Localization)
- Launch road_occupancy_processor (Computing tab/Localization)
Configuration parameters
-
points_ground_src
(default="points_ground"
) defines the PointCloud source topic containing only the ground points. -
points_no_ground_src
(default="points_no_ground"
) defines the PointCloud source topic containing only the obstacle points. -
wayarea_topic_src
(default=grid_map_wayarea
) defines the name of the topic containing the grid_map_msgs:GridMap containing the road areas. -
wayarea_layer_name
(default="wayarea"
) defines the name of the layer in the topicwayarea_topic_src
that contains the road areas. -
output_layer_name
(default=road_status
) defines name of the output layer in the published GridMap object. If running several instances, each vehicle one can publish a different layer and later add them. -
road_unknown_value
(default="128"
) indicates the value to fill in the occupancy grid when a cell is UNKNOWN. -
road_free_value
(default="75"
) indicates the value to fill in the occupancy grid when a cell is FREE. Should be a number between 0-255. -
road_occupied_value
(default="0"
) indicates the value to fill in the occupancy grid when a cell is OCCUPIED. Should be a number between 0-255. -
no_road_value
(default="255"
) indicates the value to fill in the occupancy grid when a cell is NO ROAD. Should be a number between 0-255.
Coordinate Frame
The occupancy grid is published in the same coordinate frame as the input GridMap from /grid_map_wayarea
.
Color representation using default values
Black color represents areas not defined as NO ROAD in the vector map.
Dark gray indicates UNKNOWN areas as detected by this node.
Light gray means the area is FREE.
White is used for OCCUPIED areas.
Changelog for package road_occupancy_processor
1.11.0 (2019-03-21)
- [fix] Install commands for all the packages
(#1861)
-
Initial fixes to detection, sensing, semantics and utils
-
fixing wrong filename on install command
-
Fixes to install commands
-
Hokuyo fix name
-
Fix obj db
-
Obj db include fixes
-
End of final cleaning sweep
-
Incorrect command order in runtime manager
-
Param tempfile not required by runtime_manager
-
- Fixes to runtime manager install commands
-
Remove devel directory from catkin, if any
-
Updated launch files for robosense
-
Updated robosense
-
Fix/add missing install (#1977)
-
Added launch install to lidar_kf_contour_track
-
Added install to op_global_planner
-
Added install to way_planner
-
Added install to op_local_planner
-
Added install to op_simulation_package
-
Added install to op_utilities
-
Added install to sync
-
- Improved installation script for pointgrey packages
-
Fixed nodelet error for gmsl cameras
-
USe install space in catkin as well
-
add install to catkin
-
Fix install directives (#1990)
-
Fixed installation path
-
Fixed params installation path
-
Fixed cfg installation path
- Delete cache on colcon_release
-
- Fix license notice in corresponding package.xml
- Contributors: Abraham Monrroy Cano, amc-nu
1.10.0 (2019-01-17)
- Switch to Apache 2 license (develop branch)
(#1741)
- Switch to Apache 2
* Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.
- Update license on Python files
- Update copyright years
- Add #ifndef/define _POINTS_IMAGE_H_
- Updated license comment
- Use colcon as the build tool
(#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
- Fix Ros/ROS naming convention
- Contributors: Esteve Fernandez
1.9.1 (2018-11-06)
1.9.0 (2018-10-31)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_build_flags | |
catkin | |
cv_bridge | |
grid_map_cv | |
grid_map_msgs | |
grid_map_ros | |
image_transport | |
nav_msgs | |
pcl_conversions | |
pcl_ros | |
roscpp | |
sensor_msgs | |
tf | |
vector_map |
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Launch files
- launch/road_occupancy_processor.launch
-
- points_ground_src [default: points_ground]
- points_no_ground_src [default: points_no_ground]
- wayarea_topic_src [default: grid_map_wayarea]
- wayarea_layer_name [default: wayarea]
- output_layer_name [default: road_status]
- road_unknown_value [default: 128]
- road_free_value [default: 75]
- road_occupied_value [default: 0]
- no_road_value [default: 255]
Messages
Services
Plugins
Recent questions tagged road_occupancy_processor at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.12.0 |
License | Apache 2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | autoware.ai perf |
Checkout URI | https://github.com/is-whale/autoware_learn.git |
VCS Type | git |
VCS Version | 1.14 |
Last Updated | 2025-03-14 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Abraham Monrroy
Authors
Road Occupancy Processor
This package generates the occupancy grid indicating the status of the road. It uses the point cloud from a filtered sensor and the ADAS Map data.
The occupancy grid can be conceptualized as a one dimensional 8-bit depth bitmap.
This package publishes a GridMap/OccupancyGrid with four different possible values:
- UNKNOWN
- FREE
- NO ROAD
- OCCUPIED
These values can be set using parameters, as described in the Configuration Parameters section below.
Extra requirements for compilation
- GridMap (http://wiki.ros.org/grid_map)
Prerequisites
- Localization working (TF between velodyne and world)
- PCD Map (map)
- TF for the Map (tf map->world)
- NDT matching (tf world-> base_link)
- Base link to Localizer (tf base_link -> velodyne)
- Ground filtering method publishing
/points_ground
and/points_no_ground
. Autoware has three available:ray_ground_filter
ring_ground_filter
-
euclidean_cluster
with Planar Ground removal
-
wayarea2gridmap
node from Semantics in the Computing Tab- Vector Map in
/vector_map
(also known as ADAS Map)- VectorMap must contain the definition of road areas (way_areas)
- Vector Map in
Data subscription
This node subscribes to:
- Ground filtered in
/points_ground
(sensor_msgs::PointCloud) - Obstacle points in
/points_no_ground
(sensor_msgs::PointCloud) - GridMap containing the road processed in
/grid_map_wayarea
(grid_map::GridMap)
Data publishing
-
gridmap_road_status
publishes the native format of the grid_map package. This can be used to extend the functionalities of this package. -
occupancy_road_status
publishes the native rosnav_msgs::OccupancyGrid
message.
How to run
From a sourced terminal in the workspace:
roslaunch road_occupancy_processor road_occupancy_processor.launch
Quick Setup
This is only a quick guide, each node must be properly configured
- Load PointCloud Map (Map tab)
- Load VectorMap with wayareas available (Map tab)
- Load TF between map and world frames (Map tab)
- Load TF between base_link and Localizer (Setup tab)
- Launch voxel_grid_filter (Sensing tab/Points Downsampler)
- Launch ray_ground_filter (Sensing tab/Points Preprocessor)
- Launch ndt_matching (Computing tab/Localization)
- Initialize NDT pose
- Launch wayarea2grid (Computing tab/Localization)
- Launch road_occupancy_processor (Computing tab/Localization)
Configuration parameters
-
points_ground_src
(default="points_ground"
) defines the PointCloud source topic containing only the ground points. -
points_no_ground_src
(default="points_no_ground"
) defines the PointCloud source topic containing only the obstacle points. -
wayarea_topic_src
(default=grid_map_wayarea
) defines the name of the topic containing the grid_map_msgs:GridMap containing the road areas. -
wayarea_layer_name
(default="wayarea"
) defines the name of the layer in the topicwayarea_topic_src
that contains the road areas. -
output_layer_name
(default=road_status
) defines name of the output layer in the published GridMap object. If running several instances, each vehicle one can publish a different layer and later add them. -
road_unknown_value
(default="128"
) indicates the value to fill in the occupancy grid when a cell is UNKNOWN. -
road_free_value
(default="75"
) indicates the value to fill in the occupancy grid when a cell is FREE. Should be a number between 0-255. -
road_occupied_value
(default="0"
) indicates the value to fill in the occupancy grid when a cell is OCCUPIED. Should be a number between 0-255. -
no_road_value
(default="255"
) indicates the value to fill in the occupancy grid when a cell is NO ROAD. Should be a number between 0-255.
Coordinate Frame
The occupancy grid is published in the same coordinate frame as the input GridMap from /grid_map_wayarea
.
Color representation using default values
Black color represents areas not defined as NO ROAD in the vector map.
Dark gray indicates UNKNOWN areas as detected by this node.
Light gray means the area is FREE.
White is used for OCCUPIED areas.
Changelog for package road_occupancy_processor
1.11.0 (2019-03-21)
- [fix] Install commands for all the packages
(#1861)
-
Initial fixes to detection, sensing, semantics and utils
-
fixing wrong filename on install command
-
Fixes to install commands
-
Hokuyo fix name
-
Fix obj db
-
Obj db include fixes
-
End of final cleaning sweep
-
Incorrect command order in runtime manager
-
Param tempfile not required by runtime_manager
-
- Fixes to runtime manager install commands
-
Remove devel directory from catkin, if any
-
Updated launch files for robosense
-
Updated robosense
-
Fix/add missing install (#1977)
-
Added launch install to lidar_kf_contour_track
-
Added install to op_global_planner
-
Added install to way_planner
-
Added install to op_local_planner
-
Added install to op_simulation_package
-
Added install to op_utilities
-
Added install to sync
-
- Improved installation script for pointgrey packages
-
Fixed nodelet error for gmsl cameras
-
USe install space in catkin as well
-
add install to catkin
-
Fix install directives (#1990)
-
Fixed installation path
-
Fixed params installation path
-
Fixed cfg installation path
- Delete cache on colcon_release
-
- Fix license notice in corresponding package.xml
- Contributors: Abraham Monrroy Cano, amc-nu
1.10.0 (2019-01-17)
- Switch to Apache 2 license (develop branch)
(#1741)
- Switch to Apache 2
* Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.
- Update license on Python files
- Update copyright years
- Add #ifndef/define _POINTS_IMAGE_H_
- Updated license comment
- Use colcon as the build tool
(#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
- Fix Ros/ROS naming convention
- Contributors: Esteve Fernandez
1.9.1 (2018-11-06)
1.9.0 (2018-10-31)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_build_flags | |
catkin | |
cv_bridge | |
grid_map_cv | |
grid_map_msgs | |
grid_map_ros | |
image_transport | |
nav_msgs | |
pcl_conversions | |
pcl_ros | |
roscpp | |
sensor_msgs | |
tf | |
vector_map |
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Launch files
- launch/road_occupancy_processor.launch
-
- points_ground_src [default: points_ground]
- points_no_ground_src [default: points_no_ground]
- wayarea_topic_src [default: grid_map_wayarea]
- wayarea_layer_name [default: wayarea]
- output_layer_name [default: road_status]
- road_unknown_value [default: 128]
- road_free_value [default: 75]
- road_occupied_value [default: 0]
- no_road_value [default: 255]
Messages
Services
Plugins
Recent questions tagged road_occupancy_processor at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.12.0 |
License | Apache 2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | autoware.ai perf |
Checkout URI | https://github.com/is-whale/autoware_learn.git |
VCS Type | git |
VCS Version | 1.14 |
Last Updated | 2025-03-14 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Abraham Monrroy
Authors
Road Occupancy Processor
This package generates the occupancy grid indicating the status of the road. It uses the point cloud from a filtered sensor and the ADAS Map data.
The occupancy grid can be conceptualized as a one dimensional 8-bit depth bitmap.
This package publishes a GridMap/OccupancyGrid with four different possible values:
- UNKNOWN
- FREE
- NO ROAD
- OCCUPIED
These values can be set using parameters, as described in the Configuration Parameters section below.
Extra requirements for compilation
- GridMap (http://wiki.ros.org/grid_map)
Prerequisites
- Localization working (TF between velodyne and world)
- PCD Map (map)
- TF for the Map (tf map->world)
- NDT matching (tf world-> base_link)
- Base link to Localizer (tf base_link -> velodyne)
- Ground filtering method publishing
/points_ground
and/points_no_ground
. Autoware has three available:ray_ground_filter
ring_ground_filter
-
euclidean_cluster
with Planar Ground removal
-
wayarea2gridmap
node from Semantics in the Computing Tab- Vector Map in
/vector_map
(also known as ADAS Map)- VectorMap must contain the definition of road areas (way_areas)
- Vector Map in
Data subscription
This node subscribes to:
- Ground filtered in
/points_ground
(sensor_msgs::PointCloud) - Obstacle points in
/points_no_ground
(sensor_msgs::PointCloud) - GridMap containing the road processed in
/grid_map_wayarea
(grid_map::GridMap)
Data publishing
-
gridmap_road_status
publishes the native format of the grid_map package. This can be used to extend the functionalities of this package. -
occupancy_road_status
publishes the native rosnav_msgs::OccupancyGrid
message.
How to run
From a sourced terminal in the workspace:
roslaunch road_occupancy_processor road_occupancy_processor.launch
Quick Setup
This is only a quick guide, each node must be properly configured
- Load PointCloud Map (Map tab)
- Load VectorMap with wayareas available (Map tab)
- Load TF between map and world frames (Map tab)
- Load TF between base_link and Localizer (Setup tab)
- Launch voxel_grid_filter (Sensing tab/Points Downsampler)
- Launch ray_ground_filter (Sensing tab/Points Preprocessor)
- Launch ndt_matching (Computing tab/Localization)
- Initialize NDT pose
- Launch wayarea2grid (Computing tab/Localization)
- Launch road_occupancy_processor (Computing tab/Localization)
Configuration parameters
-
points_ground_src
(default="points_ground"
) defines the PointCloud source topic containing only the ground points. -
points_no_ground_src
(default="points_no_ground"
) defines the PointCloud source topic containing only the obstacle points. -
wayarea_topic_src
(default=grid_map_wayarea
) defines the name of the topic containing the grid_map_msgs:GridMap containing the road areas. -
wayarea_layer_name
(default="wayarea"
) defines the name of the layer in the topicwayarea_topic_src
that contains the road areas. -
output_layer_name
(default=road_status
) defines name of the output layer in the published GridMap object. If running several instances, each vehicle one can publish a different layer and later add them. -
road_unknown_value
(default="128"
) indicates the value to fill in the occupancy grid when a cell is UNKNOWN. -
road_free_value
(default="75"
) indicates the value to fill in the occupancy grid when a cell is FREE. Should be a number between 0-255. -
road_occupied_value
(default="0"
) indicates the value to fill in the occupancy grid when a cell is OCCUPIED. Should be a number between 0-255. -
no_road_value
(default="255"
) indicates the value to fill in the occupancy grid when a cell is NO ROAD. Should be a number between 0-255.
Coordinate Frame
The occupancy grid is published in the same coordinate frame as the input GridMap from /grid_map_wayarea
.
Color representation using default values
Black color represents areas not defined as NO ROAD in the vector map.
Dark gray indicates UNKNOWN areas as detected by this node.
Light gray means the area is FREE.
White is used for OCCUPIED areas.
Changelog for package road_occupancy_processor
1.11.0 (2019-03-21)
- [fix] Install commands for all the packages
(#1861)
-
Initial fixes to detection, sensing, semantics and utils
-
fixing wrong filename on install command
-
Fixes to install commands
-
Hokuyo fix name
-
Fix obj db
-
Obj db include fixes
-
End of final cleaning sweep
-
Incorrect command order in runtime manager
-
Param tempfile not required by runtime_manager
-
- Fixes to runtime manager install commands
-
Remove devel directory from catkin, if any
-
Updated launch files for robosense
-
Updated robosense
-
Fix/add missing install (#1977)
-
Added launch install to lidar_kf_contour_track
-
Added install to op_global_planner
-
Added install to way_planner
-
Added install to op_local_planner
-
Added install to op_simulation_package
-
Added install to op_utilities
-
Added install to sync
-
- Improved installation script for pointgrey packages
-
Fixed nodelet error for gmsl cameras
-
USe install space in catkin as well
-
add install to catkin
-
Fix install directives (#1990)
-
Fixed installation path
-
Fixed params installation path
-
Fixed cfg installation path
- Delete cache on colcon_release
-
- Fix license notice in corresponding package.xml
- Contributors: Abraham Monrroy Cano, amc-nu
1.10.0 (2019-01-17)
- Switch to Apache 2 license (develop branch)
(#1741)
- Switch to Apache 2
* Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.
- Update license on Python files
- Update copyright years
- Add #ifndef/define _POINTS_IMAGE_H_
- Updated license comment
- Use colcon as the build tool
(#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
- Fix Ros/ROS naming convention
- Contributors: Esteve Fernandez
1.9.1 (2018-11-06)
1.9.0 (2018-10-31)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_build_flags | |
catkin | |
cv_bridge | |
grid_map_cv | |
grid_map_msgs | |
grid_map_ros | |
image_transport | |
nav_msgs | |
pcl_conversions | |
pcl_ros | |
roscpp | |
sensor_msgs | |
tf | |
vector_map |
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Launch files
- launch/road_occupancy_processor.launch
-
- points_ground_src [default: points_ground]
- points_no_ground_src [default: points_no_ground]
- wayarea_topic_src [default: grid_map_wayarea]
- wayarea_layer_name [default: wayarea]
- output_layer_name [default: road_status]
- road_unknown_value [default: 128]
- road_free_value [default: 75]
- road_occupied_value [default: 0]
- no_road_value [default: 255]
Messages
Services
Plugins
Recent questions tagged road_occupancy_processor at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 1.12.0 |
License | Apache 2 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Description | autoware.ai perf |
Checkout URI | https://github.com/is-whale/autoware_learn.git |
VCS Type | git |
VCS Version | 1.14 |
Last Updated | 2025-03-14 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Abraham Monrroy
Authors
Road Occupancy Processor
This package generates the occupancy grid indicating the status of the road. It uses the point cloud from a filtered sensor and the ADAS Map data.
The occupancy grid can be conceptualized as a one dimensional 8-bit depth bitmap.
This package publishes a GridMap/OccupancyGrid with four different possible values:
- UNKNOWN
- FREE
- NO ROAD
- OCCUPIED
These values can be set using parameters, as described in the Configuration Parameters section below.
Extra requirements for compilation
- GridMap (http://wiki.ros.org/grid_map)
Prerequisites
- Localization working (TF between velodyne and world)
- PCD Map (map)
- TF for the Map (tf map->world)
- NDT matching (tf world-> base_link)
- Base link to Localizer (tf base_link -> velodyne)
- Ground filtering method publishing
/points_ground
and/points_no_ground
. Autoware has three available:ray_ground_filter
ring_ground_filter
-
euclidean_cluster
with Planar Ground removal
-
wayarea2gridmap
node from Semantics in the Computing Tab- Vector Map in
/vector_map
(also known as ADAS Map)- VectorMap must contain the definition of road areas (way_areas)
- Vector Map in
Data subscription
This node subscribes to:
- Ground filtered in
/points_ground
(sensor_msgs::PointCloud) - Obstacle points in
/points_no_ground
(sensor_msgs::PointCloud) - GridMap containing the road processed in
/grid_map_wayarea
(grid_map::GridMap)
Data publishing
-
gridmap_road_status
publishes the native format of the grid_map package. This can be used to extend the functionalities of this package. -
occupancy_road_status
publishes the native rosnav_msgs::OccupancyGrid
message.
How to run
From a sourced terminal in the workspace:
roslaunch road_occupancy_processor road_occupancy_processor.launch
Quick Setup
This is only a quick guide, each node must be properly configured
- Load PointCloud Map (Map tab)
- Load VectorMap with wayareas available (Map tab)
- Load TF between map and world frames (Map tab)
- Load TF between base_link and Localizer (Setup tab)
- Launch voxel_grid_filter (Sensing tab/Points Downsampler)
- Launch ray_ground_filter (Sensing tab/Points Preprocessor)
- Launch ndt_matching (Computing tab/Localization)
- Initialize NDT pose
- Launch wayarea2grid (Computing tab/Localization)
- Launch road_occupancy_processor (Computing tab/Localization)
Configuration parameters
-
points_ground_src
(default="points_ground"
) defines the PointCloud source topic containing only the ground points. -
points_no_ground_src
(default="points_no_ground"
) defines the PointCloud source topic containing only the obstacle points. -
wayarea_topic_src
(default=grid_map_wayarea
) defines the name of the topic containing the grid_map_msgs:GridMap containing the road areas. -
wayarea_layer_name
(default="wayarea"
) defines the name of the layer in the topicwayarea_topic_src
that contains the road areas. -
output_layer_name
(default=road_status
) defines name of the output layer in the published GridMap object. If running several instances, each vehicle one can publish a different layer and later add them. -
road_unknown_value
(default="128"
) indicates the value to fill in the occupancy grid when a cell is UNKNOWN. -
road_free_value
(default="75"
) indicates the value to fill in the occupancy grid when a cell is FREE. Should be a number between 0-255. -
road_occupied_value
(default="0"
) indicates the value to fill in the occupancy grid when a cell is OCCUPIED. Should be a number between 0-255. -
no_road_value
(default="255"
) indicates the value to fill in the occupancy grid when a cell is NO ROAD. Should be a number between 0-255.
Coordinate Frame
The occupancy grid is published in the same coordinate frame as the input GridMap from /grid_map_wayarea
.
Color representation using default values
Black color represents areas not defined as NO ROAD in the vector map.
Dark gray indicates UNKNOWN areas as detected by this node.
Light gray means the area is FREE.
White is used for OCCUPIED areas.
Changelog for package road_occupancy_processor
1.11.0 (2019-03-21)
- [fix] Install commands for all the packages
(#1861)
-
Initial fixes to detection, sensing, semantics and utils
-
fixing wrong filename on install command
-
Fixes to install commands
-
Hokuyo fix name
-
Fix obj db
-
Obj db include fixes
-
End of final cleaning sweep
-
Incorrect command order in runtime manager
-
Param tempfile not required by runtime_manager
-
- Fixes to runtime manager install commands
-
Remove devel directory from catkin, if any
-
Updated launch files for robosense
-
Updated robosense
-
Fix/add missing install (#1977)
-
Added launch install to lidar_kf_contour_track
-
Added install to op_global_planner
-
Added install to way_planner
-
Added install to op_local_planner
-
Added install to op_simulation_package
-
Added install to op_utilities
-
Added install to sync
-
- Improved installation script for pointgrey packages
-
Fixed nodelet error for gmsl cameras
-
USe install space in catkin as well
-
add install to catkin
-
Fix install directives (#1990)
-
Fixed installation path
-
Fixed params installation path
-
Fixed cfg installation path
- Delete cache on colcon_release
-
- Fix license notice in corresponding package.xml
- Contributors: Abraham Monrroy Cano, amc-nu
1.10.0 (2019-01-17)
- Switch to Apache 2 license (develop branch)
(#1741)
- Switch to Apache 2
* Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.
- Update license on Python files
- Update copyright years
- Add #ifndef/define _POINTS_IMAGE_H_
- Updated license comment
- Use colcon as the build tool
(#1704)
- Switch to colcon as the build tool instead of catkin
- Added cmake-target
- Added note about the second colcon call
- Added warning about catkin* scripts being deprecated
- Fix COLCON_OPTS
- Added install targets
- Update Docker image tags
- Message packages fixes
- Fix missing dependency
- Fix Ros/ROS naming convention
- Contributors: Esteve Fernandez
1.9.1 (2018-11-06)
1.9.0 (2018-10-31)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_build_flags | |
catkin | |
cv_bridge | |
grid_map_cv | |
grid_map_msgs | |
grid_map_ros | |
image_transport | |
nav_msgs | |
pcl_conversions | |
pcl_ros | |
roscpp | |
sensor_msgs | |
tf | |
vector_map |
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Launch files
- launch/road_occupancy_processor.launch
-
- points_ground_src [default: points_ground]
- points_no_ground_src [default: points_no_ground]
- wayarea_topic_src [default: grid_map_wayarea]
- wayarea_layer_name [default: wayarea]
- output_layer_name [default: road_status]
- road_unknown_value [default: 128]
- road_free_value [default: 75]
- road_occupied_value [default: 0]
- no_road_value [default: 255]