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

tier4_perception_launch 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_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_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_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_rtc_interface autoware_behavior_velocity_run_out_module 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_system_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	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Additional Links

No additional links.

Maintainers

Yukihiro Saito
Yoshi Ri
Taekjin Lee
Masato Saeki

Authors

No additional authors.

launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>

CHANGELOG

Changelog for package tier4_perception_launch

0.47.0 (2025-08-11)

feat(perception_online_evaluator): add functionality to publish perception analytics info (#11089)

* feat: add functionality to calculate perception metrics for MOB in autoware_perception_online_evaluator chore: configure settings for mob metrics calculation

* feat: change implementation from one topic per metric to all metrics published in one metric for better management by metric agent refactor: rename FrameMetrics member to clarify variable meaning refactor: use array/vector instead of unorder_map for FrameMetrics for better performance chore: remap published topic name to match msg conventions
- fix: unittest error
- style(pre-commit): autofix
- refactor: replace MOB keyword with generalized expression of perception analytics
- chore: improve comment
* refactor: add a new autoware_perception_analytics_publisher_node to publish perception analytics info instead of using previous autoware_perception_online_evaluator_node chore: modify default launch setting to match the refactoring
- style(pre-commit): autofix
* fix: add initialization for [latencies_]{.title-ref} fix: use tf of objects timestamp instead of latest feat: use ConstSharedPtr to avoid repeated copy of large message in [PerceptionAnalyticsCalculator::setPredictedObjects]{.title-ref} ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(multi_object_tracker): add irregular objects topic (#11102)
- fix(multi_object_tracker): add irregular objects topic
- fix: change channel order
* Update launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

* Update launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

* Update perception/autoware_multi_object_tracker/config/input_channels.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

* Update launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>
- fix: unused channels
- fix: schema
- docs: update readme
- style(pre-commit): autofix
- fix: short name
* feat: add lidar_centerpoint_short_range input channel with default flags ---------Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(autoware_object_merger): add merger priority_mode (#11042)

* fix: add merger priority_mode fix: add priority mode into launch fix: add class based priority matrix fix: adjust priority matrix
- fix: add Confidence mode support
- docs: schema update
- fix: launch
* fix: schema json ---------
feat(tier4_perception_launch): add missing remappings to launch file (#11037)
feat(autoware_bevdet): implementation of bevdet using tensorrt (#10441)
feat(tracking): add short range detection support and update related

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_bevfusion
	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_image_transport_decompressor
	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_perception_online_evaluator
	autoware_pointcloud_preprocessor
	autoware_probabilistic_occupancy_grid_map
	autoware_radar_fusion_to_detected_object
	autoware_radar_object_tracker
	autoware_raindrop_cluster_filter
	autoware_shape_estimation
	autoware_simple_object_merger
	autoware_tensorrt_bevdet
	autoware_tensorrt_yolox
	autoware_tracking_object_merger
	autoware_traffic_light_arbiter
	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_visualization
	pointcloud_to_laserscan
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_launch
autoware_launch
autoware_launch
autoware_launch
tier4_simulator_launch
reaction_analyzer

Launch files

launch/object_recognition/detection/detection.launch.xml
- - mode
  - lidar_detection_model_type
  - lidar_detection_model_name
  - use_short_range_detection
  - lidar_short_range_detection_model_type
  - lidar_short_range_detection_model_name
  - use_object_filter
  - objects_filter_method
  - use_pointcloud_map
  - use_detection_by_tracker
  - use_validator
  - objects_validation_method
  - use_low_intensity_cluster_filter
  - use_image_segmentation_based_filter
  - use_multi_channel_tracker_merger
  - use_radar_tracking_fusion
  - use_irregular_object_detector
  - irregular_object_detector_fusion_camera_ids [default: [0]]
  - ml_camera_lidar_merger_priority_mode
  - number_of_cameras
  - node/pointcloud_container
  - input/pointcloud
  - input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  - input/camera0/image
  - input/camera0/info
  - input/camera0/rois
  - input/camera1/image
  - input/camera1/info
  - input/camera1/rois
  - input/camera2/image
  - input/camera2/info
  - input/camera2/rois
  - input/camera3/image
  - input/camera3/info
  - input/camera3/rois
  - input/camera4/image
  - input/camera4/info
  - input/camera4/rois
  - input/camera5/image
  - input/camera5/info
  - input/camera5/rois
  - input/camera6/image
  - input/camera6/info
  - input/camera6/rois
  - input/camera7/image
  - input/camera7/info
  - input/camera7/rois
  - input/camera8/image
  - input/camera8/info
  - input/camera8/rois
  - image_topic_name
  - segmentation_pointcloud_fusion_camera_ids
  - input/radar
  - input/tracked_objects [default: /perception/object_recognition/tracking/objects]
  - output/objects [default: objects]
launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
- - input/camera0/image
  - input/camera0/info
  - input/camera1/image
  - input/camera1/info
  - input/camera2/image
  - input/camera2/info
  - input/camera3/image
  - input/camera3/info
  - input/camera4/image
  - input/camera4/info
  - input/camera5/image
  - input/camera5/info
  - input/camera6/image
  - input/camera6/info
  - input/camera7/image
  - input/camera7/info
  - output/objects
  - number_of_cameras
  - data_path [default: $(env HOME)/autoware_data]
  - bevdet_model_name [default: bevdet_one_lt_d]
  - bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
- - ns
  - lidar_detection_model_type
  - lidar_detection_model_name
  - use_low_intensity_cluster_filter
  - use_image_segmentation_based_filter
  - number_of_cameras
  - input/camera0/image
  - input/camera0/info
  - input/camera0/rois
  - input/camera1/image
  - input/camera1/info
  - input/camera1/rois
  - input/camera2/image
  - input/camera2/info
  - input/camera2/rois
  - input/camera3/image
  - input/camera3/info
  - input/camera3/rois
  - input/camera4/image
  - input/camera4/info
  - input/camera4/rois
  - input/camera5/image
  - input/camera5/info
  - input/camera5/rois
  - input/camera6/image
  - input/camera6/info
  - input/camera6/rois
  - input/camera7/image
  - input/camera7/info
  - input/camera7/rois
  - input/camera8/image
  - input/camera8/info
  - input/camera8/rois
  - segmentation_pointcloud_fusion_camera_ids
  - image_topic_name
  - node/pointcloud_container
  - input/pointcloud
  - input/pointcloud_map/pointcloud
  - input/obstacle_segmentation/pointcloud
  - output/ml_detector/objects
  - output/rule_detector/objects
  - output/clustering/cluster_objects
launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
- - ns
  - pipeline_ns
  - input/pointcloud
  - fusion_camera_ids [default: [0]]
  - image_topic_name [default: image_raw]
  - irregular_object_detector_param_path
launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
- - lidar_detection_model_type
  - lidar_detection_model_name
  - bevfusion_model_path [default: $(var data_path)/bevfusion]
  - centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
  - transfusion_model_path [default: $(var data_path)/lidar_transfusion]
  - use_short_range_detection [default: false]
  - lidar_short_range_detection_model_type
  - lidar_short_range_detection_model_name
  - short_range_centerpoint_model_path [default: $(var data_path)/lidar_short_range_centerpoint]
  - node/pointcloud_container
  - input/pointcloud
  - output/objects
  - output/short_range_objects
  - lidar_short_range_model_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config]
  - lidar_model_param_path [default: $(find-pkg-share autoware_bevfusion)/config]
  - lidar_model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config]
  - lidar_model_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config]
launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
- - ns
  - node/pointcloud_container
  - input/pointcloud_map/pointcloud
  - input/obstacle_segmentation/pointcloud
  - output/cluster_objects
  - output/objects
launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
- - input/clusters
  - input/tracked_objects
  - output/objects
launch/object_recognition/detection/filter/object_filter.launch.xml
- - objects_filter_method [default: lanelet_filter]
  - input/objects
  - output/objects
launch/object_recognition/detection/filter/object_validator.launch.xml
- - objects_validation_method
  - input/obstacle_pointcloud
  - input/objects
  - output/objects
launch/object_recognition/detection/filter/radar_filter.launch.xml
- - object_velocity_splitter_param_path [default: $(var object_recognition_detection_object_velocity_splitter_radar_param_path)]
  - object_range_splitter_param_path [default: $(var object_recognition_detection_object_range_splitter_radar_param_path)]
  - radar_lanelet_filtering_range_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  - input/radar
  - output/objects
launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
- - object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml]
  - object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml]
  - ml_camera_lidar_object_association_merger_param_path [default: $(find-pkg-share autoware_object_merger)/config/object_association_merger.param.yaml]
  - lidar_detection_model_type
  - use_detection_by_tracker
  - use_irregular_object_detector
  - use_object_filter
  - objects_filter_method
  - number_of_cameras
  - input/camera0/image
  - input/camera0/info
  - input/camera0/rois
  - input/camera1/image
  - input/camera1/info
  - input/camera1/rois
  - input/camera2/image
  - input/camera2/info
  - input/camera2/rois
  - input/camera3/image
  - input/camera3/info
  - input/camera3/rois
  - input/camera4/image
  - input/camera4/info
  - input/camera4/rois
  - input/camera5/image
  - input/camera5/info
  - input/camera5/rois
  - input/camera6/image
  - input/camera6/info
  - input/camera6/rois
  - input/camera7/image
  - input/camera7/info
  - input/camera7/rois
  - input/camera8/image
  - input/camera8/info
  - input/camera8/rois
  - input/lidar_ml/objects
  - input/lidar_rule/objects
  - input/detection_by_tracker/objects
  - output/objects [default: objects]
  - alpha_merger_priority_mode [default: 0]
launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
- - object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml]
  - object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml]
  - ml_camera_lidar_object_association_merger_param_path [default: $(find-pkg-share autoware_object_merger)/config/object_association_merger.param.yaml]
  - far_object_merger_sync_queue_size [default: 20]
  - lidar_detection_model_type
  - use_radar_tracking_fusion
  - use_detection_by_tracker
  - use_irregular_object_detector
  - use_object_filter
  - objects_filter_method
  - number_of_cameras
  - input/camera0/image
  - input/camera0/info
  - input/camera0/rois
  - input/camera1/image
  - input/camera1/info
  - input/camera1/rois
  - input/camera2/image
  - input/camera2/info
  - input/camera2/rois
  - input/camera3/image
  - input/camera3/info
  - input/camera3/rois
  - input/camera4/image
  - input/camera4/info
  - input/camera4/rois
  - input/camera5/image
  - input/camera5/info
  - input/camera5/rois
  - input/camera6/image
  - input/camera6/info
  - input/camera6/rois
  - input/camera7/image
  - input/camera7/info
  - input/camera7/rois
  - input/camera8/image
  - input/camera8/info
  - input/camera8/rois
  - input/lidar_ml/objects
  - input/lidar_rule/objects
  - input/radar/objects
  - input/radar_far/objects
  - input/detection_by_tracker/objects
  - output/objects [default: objects]
  - alpha_merger_priority_mode [default: 0]
launch/object_recognition/detection/merger/lidar_merger.launch.xml
- - object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml]
  - object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml]
  - lidar_detection_model_type
  - use_detection_by_tracker
  - use_object_filter
  - objects_filter_method
  - input/lidar_ml/objects [default: $(var lidar_detection_model_type)/objects]
  - input/lidar_rule/objects [default: clustering/objects]
  - input/detection_by_tracker/objects [default: detection_by_tracker/objects]
  - output/objects
launch/object_recognition/prediction/prediction.launch.xml
- - use_vector_map [default: false]
  - input/objects [default: /perception/object_recognition/tracking/objects]
launch/object_recognition/tracking/tracking.launch.xml
- - object_recognition_tracking_radar_tracked_object_sorter_param_path
  - object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path
  - object_recognition_tracking_object_merger_data_association_matrix_param_path
  - object_recognition_tracking_object_merger_node_param_path
  - mode [default: lidar]
  - use_radar_tracking_fusion [default: false]
  - use_multi_channel_tracker_merger
  - use_validator
  - use_short_range_detection
  - lidar_detection_model_type [default: centerpoint]
  - input/merged_detection/channel [default: detected_objects]
  - input/merged_detection/objects [default: /perception/object_recognition/detection/objects]
  - input/lidar_dnn/channel [default: lidar_$(var lidar_detection_model_type)]
  - input/lidar_dnn/objects [default: /perception/object_recognition/detection/$(var lidar_detection_model_type)/objects]
  - input/lidar_dnn_validated/objects [default: /perception/object_recognition/detection/$(var lidar_detection_model_type)/validation/objects]
  - input/lidar_dnn_short_range/channel [default: lidar_$(var lidar_short_range_detection_model_type)]
  - input/lidar_dnn_short_range/objects [default: /perception/object_recognition/detection/$(var lidar_short_range_detection_model_type)/objects]
  - input/camera_lidar_rule_detector/channel [default: camera_lidar_fusion]
  - input/camera_lidar_rule_detector/objects [default: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects]
  - input/irregular_object_detector/channel [default: camera_lidar_fusion_irregular]
  - input/irregular_object_detector/objects [default: /perception/object_recognition/detection/irregular_object/objects]
  - input/tracker_based_detector/channel [default: detection_by_tracker]
  - input/tracker_based_detector/objects [default: /perception/object_recognition/detection/detection_by_tracker/objects]
  - input/radar/channel [default: radar]
  - input/radar/far_objects [default: /perception/object_recognition/detection/radar/far_objects]
  - input/radar/objects [default: /perception/object_recognition/detection/radar/objects]
  - input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
  - output/objects [default: $(var ns)/objects]
launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
- - input/obstacle_pointcloud [default: concatenated/pointcloud]
  - input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
  - output [default: /perception/occupancy_grid_map/map]
  - use_intra_process [default: false]
  - use_multithread [default: false]
  - pointcloud_container_name [default: pointcloud_container]
  - occupancy_grid_map_method
  - occupancy_grid_map_param_path
  - occupancy_grid_map_updater
  - occupancy_grid_map_updater_param_path
  - input_obstacle_pointcloud [default: false]
  - input_obstacle_and_raw_pointcloud [default: true]
  - use_pointcloud_container [default: true]
launch/perception.launch.xml
- - object_recognition_detection_euclidean_cluster_param_path
  - object_recognition_detection_outlier_param_path
  - object_recognition_detection_object_lanelet_filter_param_path
  - object_recognition_detection_object_position_filter_param_path
  - object_recognition_detection_pointcloud_map_filter_param_path
  - object_recognition_prediction_map_based_prediction_param_path
  - object_recognition_detection_object_merger_data_association_matrix_param_path
  - ml_camera_lidar_object_association_merger_param_path
  - object_recognition_detection_object_merger_distance_threshold_list_path
  - object_recognition_detection_fusion_sync_param_path
  - object_recognition_detection_roi_cluster_fusion_param_path
  - object_recognition_detection_irregular_object_detector_param_path
  - object_recognition_detection_roi_detected_object_fusion_param_path
  - object_recognition_detection_pointpainting_fusion_common_param_path
  - object_recognition_detection_lidar_model_param_path
  - object_recognition_detection_radar_lanelet_filtering_range_param_path
  - object_recognition_detection_object_velocity_splitter_radar_param_path
  - object_recognition_detection_object_velocity_splitter_radar_fusion_param_path
  - object_recognition_detection_object_range_splitter_radar_param_path
  - object_recognition_detection_object_range_splitter_radar_fusion_param_path
  - object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
  - object_recognition_tracking_multi_object_tracker_input_channels_param_path
  - object_recognition_tracking_multi_object_tracker_node_param_path
  - object_recognition_tracking_radar_tracked_object_sorter_param_path
  - object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path
  - obstacle_segmentation_ground_segmentation_param_path
  - obstacle_segmentation_ground_segmentation_elevation_map_param_path
  - object_recognition_detection_obstacle_pointcloud_based_validator_param_path
  - object_recognition_detection_detection_by_tracker_param
  - occupancy_grid_map_method
  - occupancy_grid_map_param_path
  - occupancy_grid_map_updater
  - occupancy_grid_map_updater_param_path
  - lidar_detection_model
  - each_traffic_light_map_based_detector_param_path
  - traffic_light_fine_detector_param_path
  - yolox_traffic_light_detector_param_path
  - car_traffic_light_classifier_param_path
  - pedestrian_traffic_light_classifier_param_path
  - traffic_light_roi_visualizer_param_path
  - traffic_light_occlusion_predictor_param_path
  - traffic_light_multi_camera_fusion_param_path
  - traffic_light_arbiter_param_path
  - crosswalk_traffic_light_estimator_param_path
  - lidar_detection_model_type [default: $(eval "'$(var lidar_detection_model)'.split('/')[0]")]
  - lidar_detection_model_name [default: $(eval "'$(var lidar_detection_model)'.split('/')[1] if '/' in '$(var lidar_detection_model)' else ''")]
  - use_short_range_detection [default: false]
  - lidar_short_range_detection_model_type [default: centerpoint_short_range]
  - lidar_short_range_detection_model_name [default: centerpoint_short_range]
  - bevfusion_model_path [default: $(var data_path)/bevfusion]
  - centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
  - transfusion_model_path [default: $(var data_path)/lidar_transfusion]
  - short_range_centerpoint_model_path [default: $(var data_path)/lidar_short_range_centerpoint]
  - pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
  - input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
  - mode [default: camera_lidar_fusion]
  - data_path [default: $(env HOME)/autoware_data]
  - lidar_detection_model_type [default: $(var lidar_detection_model_type)]
  - lidar_detection_model_name [default: $(var lidar_detection_model_name)]
  - image_raw0 [default: /sensing/camera/camera0/image_rect_color]
  - camera_info0 [default: /sensing/camera/camera0/camera_info]
  - detection_rois0 [default: /perception/object_recognition/detection/rois0]
  - image_raw1 [default: /sensing/camera/camera1/image_rect_color]
  - camera_info1 [default: /sensing/camera/camera1/camera_info]
  - detection_rois1 [default: /perception/object_recognition/detection/rois1]
  - image_raw2 [default: /sensing/camera/camera2/image_rect_color]
  - camera_info2 [default: /sensing/camera/camera2/camera_info]
  - detection_rois2 [default: /perception/object_recognition/detection/rois2]
  - image_raw3 [default: /sensing/camera/camera3/image_rect_color]
  - camera_info3 [default: /sensing/camera/camera3/camera_info]
  - detection_rois3 [default: /perception/object_recognition/detection/rois3]
  - image_raw4 [default: /sensing/camera/camera4/image_rect_color]
  - camera_info4 [default: /sensing/camera/camera4/camera_info]
  - detection_rois4 [default: /perception/object_recognition/detection/rois4]
  - image_raw5 [default: /sensing/camera/camera5/image_rect_color]
  - camera_info5 [default: /sensing/camera/camera5/camera_info]
  - detection_rois5 [default: /perception/object_recognition/detection/rois5]
  - image_raw6 [default: /sensing/camera/camera6/image_rect_color]
  - camera_info6 [default: /sensing/camera/camera6/camera_info]
  - detection_rois6 [default: /perception/object_recognition/detection/rois6]
  - image_raw7 [default: /sensing/camera/camera7/image_rect_color]
  - camera_info7 [default: /sensing/camera/camera7/camera_info]
  - detection_rois7 [default: /perception/object_recognition/detection/rois7]
  - image_raw8 [default: /sensing/camera/camera8/image_rect_color]
  - camera_info8 [default: /sensing/camera/camera8/camera_info]
  - detection_rois8 [default: /perception/object_recognition/detection/rois8]
  - image_number [default: 6]
  - image_topic_name [default: image_rect_color]
  - segmentation_pointcloud_fusion_camera_ids [default: [0,1,5]]
  - ml_camera_lidar_merger_priority_mode [default: 0]
  - pointcloud_container_name [default: pointcloud_container]
  - use_vector_map [default: true]
  - use_pointcloud_map [default: true]
  - use_low_height_cropbox [default: true]
  - use_object_filter [default: true]
  - objects_filter_method [default: lanelet_filter]
  - use_irregular_object_detector [default: true]
  - use_low_intensity_cluster_filter [default: true]
  - use_image_segmentation_based_filter [default: false]
  - use_empty_dynamic_object_publisher [default: false]
  - use_object_validator [default: true]
  - objects_validation_method [default: obstacle_pointcloud]
  - use_perception_online_evaluator [default: false]
  - use_perception_analytics_publisher [default: true]
  - use_obstacle_segmentation_single_frame_filter
  - use_obstacle_segmentation_time_series_filter
  - use_traffic_light_recognition
  - traffic_light_recognition/fusion_only
  - traffic_light_recognition/camera_namespaces
  - traffic_light_recognition/use_high_accuracy_detection
  - traffic_light_recognition/high_accuracy_detection_type
  - traffic_light_recognition/whole_image_detection/model_path
  - traffic_light_recognition/whole_image_detection/label_path
  - traffic_light_recognition/fine_detection/model_path
  - traffic_light_recognition/fine_detection/label_path
  - traffic_light_recognition/classification/car/model_path
  - traffic_light_recognition/classification/car/label_path
  - traffic_light_recognition/classification/pedestrian/model_path
  - traffic_light_recognition/classification/pedestrian/label_path
  - use_detection_by_tracker [default: true]
  - use_radar_tracking_fusion [default: true]
  - input/radar [default: /sensing/radar/detected_objects]
  - use_multi_channel_tracker_merger [default: false]
  - downsample_perception_common_pointcloud [default: false]
  - common_downsample_voxel_size_x [default: 0.05]
  - common_downsample_voxel_size_y [default: 0.05]
  - common_downsample_voxel_size_z [default: 0.05]
launch/traffic_light_recognition/traffic_light.launch.xml
- - enable_image_decompressor [default: true]
  - fusion_only
  - camera_namespaces
  - use_high_accuracy_detection
  - high_accuracy_detection_type
  - each_traffic_light_map_based_detector_param_path
  - traffic_light_fine_detector_param_path
  - yolox_traffic_light_detector_param_path
  - car_traffic_light_classifier_param_path
  - pedestrian_traffic_light_classifier_param_path
  - traffic_light_roi_visualizer_param_path
  - traffic_light_occlusion_predictor_param_path
  - traffic_light_multi_camera_fusion_param_path
  - traffic_light_arbiter_param_path
  - crosswalk_traffic_light_estimator_param_path
  - whole_image_detection/model_path
  - whole_image_detection/label_path
  - fine_detection/model_path
  - fine_detection/label_path
  - classification/car/model_path
  - classification/car/label_path
  - classification/pedestrian/model_path
  - classification/pedestrian/label_path
  - input/vector_map [default: /map/vector_map]
  - input/route [default: /planning/mission_planning/route]
  - input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
  - internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
  - external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
  - judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
  - output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tier4_perception_launch` at Robotics Stack Exchange

API Docs Browse Code

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