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yabloc_particle_filter package from autoware_universe repo

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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 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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

YabLoc particle filter package

Additional Links

No additional links.

Maintainers

Kento Yabuuchi
Masahiro Sakamoto
Yamato Ando
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

No additional authors.

localization/yabloc/yabloc_particle_filter/README.md

yabLoc_particle_filter

This package contains some executable nodes related to particle filter.

particle_predictor

Purpose

This node performs predictive updating and resampling of particles.
It retroactively reflects the particle weights determined by the corrector node.

Inputs / Outputs

Input

Name	Type	Description
`input/initialpose`	`geometry_msgs::msg::PoseWithCovarianceStamped`	to specify the initial position of particles
`input/twist_with_covariance`	`geometry_msgs::msg::TwistWithCovarianceStamped`	linear velocity and angular velocity of prediction update
`input/height`	`std_msgs::msg::Float32`	ground height
`input/weighted_particles`	`yabloc_particle_filter::msg::ParticleArray`	particles weighted by corrector nodes

Output

Name	Type	Description
`output/pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	particle centroid with covariance
`output/pose`	`geometry_msgs::msg::PoseStamped`	particle centroid with covariance
`output/predicted_particles`	`yabloc_particle_filter::msg::ParticleArray`	particles weighted by predictor nodes
`debug/init_marker`	`visualization_msgs::msg::Marker`	debug visualization of initial position
`debug/particles_marker_array`	`visualization_msgs::msg::MarkerArray`	particles visualization. published if `visualize` is true

Parameters

{{ json_to_markdown(“localization/yabloc/yabloc_particle_filter/schema/predictor.schema.json”) }}

Services

Name	Type	Description
`yabloc_trigger_srv`	`std_srvs::srv::SetBool`	activation and deactivation of yabloc estimation

gnss_particle_corrector

Purpose

This node estimated particles weight using GNSS.
It supports two types of input: ublox_msgs::msg::NavPVT and geometry_msgs::msg::PoseWithCovarianceStamped.

Inputs / Outputs

Input

Name	Type	Description
`input/height`	`std_msgs::msg::Float32`	ground height
`input/predicted_particles`	`yabloc_particle_filter::msg::ParticleArray`	predicted particles
`input/pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	gnss measurement. used if `use_ublox_msg` is false
`input/navpvt`	`ublox_msgs::msg::NavPVT`	gnss measurement. used if `use_ublox_msg` is true

Output

Name	Type	Description
`output/weighted_particles`	`yabloc_particle_filter::msg::ParticleArray`	weighted particles
`debug/gnss_range_marker`	`visualization_msgs::msg::MarkerArray`	gnss weight distribution
`debug/particles_marker_array`	`visualization_msgs::msg::MarkerArray`	particles visualization. published if `visualize` is true

Parameters

{{ json_to_markdown(“localization/yabloc/yabloc_particle_filter/schema/gnss_particle_corrector.schema.json”) }}

camera_particle_corrector

Purpose

This node estimated particles weight using GNSS.

Inputs / Outputs

Input

Name	Type	Description
`input/predicted_particles`	`yabloc_particle_filter::msg::ParticleArray`	predicted particles
`input/ll2_bounding_box`	`sensor_msgs::msg::PointCloud2`	road surface markings converted to line segments
`input/ll2_road_marking`	`sensor_msgs::msg::PointCloud2`	road surface markings converted to line segments
`input/projected_line_segments_cloud`	`sensor_msgs::msg::PointCloud2`	projected line segments
`input/pose`	`geometry_msgs::msg::PoseStamped`	reference to retrieve the area map around the self location

Output

Name	Type	Description
`output/weighted_particles`	`yabloc_particle_filter::msg::ParticleArray`	weighted particles
`debug/cost_map_image`	`sensor_msgs::msg::Image`	cost map created from lanelet2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package yabloc_particle_filter

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
fix(yabloc_particle_filter): fix deprecated autoware_utils header (#10497)
Contributors: Masaki Baba, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

chore: bump version to 0.41.1 (#10088)
Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

Merge branch 'main' into release-0.40.0
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
fix: fix ticket links in CHANGELOG.rst (#9588)
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
fix: fix ticket links in CHANGELOG.rst (#9588)
fix(cpplint): include what you use - localization (#9567)
0.39.0
update changelog
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_ros
	autoware_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_utils_math
	autoware_utils_system
	autoware_utils_visualization
	geometry_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sophus
	std_msgs
	std_srvs
	tf2
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs
	yabloc_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tier4_localization_launch
tier4_localization_launch

Launch files

launch/yabloc_particle_filter.launch.xml
- - input_initialpose [default: /initialpose3d]
  - twist_cov_for_prediction [default: /localization/twist_estimator/twist_with_covariance]
  - input_projected_line_segments_cloud [default: /localization/pose_estimator/yabloc/image_processing/projected_line_segments_cloud]
  - input_ll2_road_marking [default: /localization/pose_estimator/yabloc/map/ll2_road_marking]
  - input_ll2_bounding_box [default: /localization/pose_estimator/yabloc/map/ll2_bounding_box]

Messages

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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